System and method for improvement of harvest with crop storage in grain bags

ABSTRACT

A method for the debottlenecking of grain harvesting and grain bagging comprises a set of steps. Grain is transported in a grain cart from a harvester at a harvesting location to an accumulation site. Grain is bulk unloaded crop from the grain cart at an accumulation site by, for example, gravity dumping through a rear door of the grain cart. The cart returns to the harvester; and the grain at the accumulation site is transferred into a silo storage bag. The steps of transporting the grain, bulk unloading the grain, and returning the cart comprise a first process. The step of transferring the grain from the accumulation site into a bag comprises a second process. The first process and second process proceed in parallel.

FIELD OF THE INVENTION

The present invention relates generally to harvesting of crops. Moreparticularly, the invention relates to harvesting related processes suchas grain cart cycling, grain unloading, grain storage, and grainbagging.

BACKGROUND OF THE INVENTION

An increasing trend towards developing automated or semi-automatedequipment is present in today's work environment. In some situationswith this trend, the equipment is completely different from theoperator-controlled equipment that is being replaced, and does not allowfor any situations in which an operator can be present or take overoperation of the vehicle. Such unmanned equipment can have cost andperformance challenges due to the complexity of systems involved, thecurrent status of computerized control, and uncertainty in variousoperating environments. As a result, semi-automated equipment is morecommonly used. This type of equipment is similar to previousoperator-controlled equipment, but incorporates one or more operationsthat are automated rather than operator-controlled. This semi-automatedequipment allows for human supervision and allows the operator to takecontrol in different situations when necessary.

SUMMARY

In an illustrative embodiment, a method for managing the movement andstorage of grain includes the unloading of grain in bulk. Moreparticularly, the method includes the steps of transporting grain from aharvesting location to an accumulation site; bulk unloading grain from agrain cart at the accumulation site; returning the grain cart to theharvesting location; and transferring the grain from the accumulationsite into a grain bag. The transporting, bulk unloading, and returningis a first process, and the transferring the grain from the grainaccumulation site into a grain bag is a second process. The firstprocess and the second process may proceed in parallel. The bulkunloading grain further includes gravity dumping of grain from the graincart such as dumping from the bottom, side, and rear of the grain cart.Further, the bulk unloading grain may place the grain on the ground,above the ground, or below the ground. A liner and other grain storageequipment may be used at the accumulation site such as, for example, astorage bin, a mobile storage bin, a hopper, a bulk grain truck, and abulk grain rail car. A pile of grain on the ground is one example of anaccumulation site. Additionally, the transferring of grain into thegrain cart from the grain harvester may utilize grain transferequipments such as an auger positioned in the harvester. The grain cartneed not include an auger and the related auger hydraulics.

The features, functions, and advantages can be achieved independently invarious embodiments of the present invention or may be combined in yetother embodiments in which further details can be seen with reference tothe following description and drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features believed characteristic of the illustrativeembodiments are set forth in the appended claims. The illustrativeembodiments, however, as well as a preferred mode of use, furtherobjectives and advantages thereof, will best be understood by referenceto the following detailed description of an illustrative embodiment ofthe present invention when read in conjunction with the accompanyingdrawings, wherein:

FIG. 1 is a perspective view of a harvesting operation including anintelligent grain bagger in accordance with an illustrative embodiment;

FIG. 2 is a block diagram of a system for controlling and loading grainin a bag in accordance with an illustrative embodiment;

FIG. 3 is a bar chart showing grain cart cycle times in accordance withan illustrative embodiment;

FIG. 4 is a bar chart also showing grain cart cycle times in accordancewith an illustrative embodiment;

FIG. 5 is a perspective view of a tractor and grain cart assemblydisposed in a loading position with respect to a grain cart inaccordance with an illustrative embodiment;

FIG. 6 is a block diagram of a data processing system in accordance withan illustrative embodiment;

FIG. 7 is a block diagram of a vehicle coordination system in accordancewith an illustrative embodiment;

FIG. 8 is a block diagram of components used to control a vehicle inaccordance with an illustrative embodiment;

FIG. 9 is a block diagram of a knowledge base in accordance with anillustrative embodiment;

FIG. 10 is a block diagram of a sensor system in accordance with anillustrative embodiment;

FIG. 11 is a block diagram of a communications unit in accordance withan illustrative embodiment;

FIG. 12 is a block diagram illustrating a system for braking control inaccordance with an illustrative embodiment;

FIG. 13 is a block diagram illustrating a system for coordinatedmovement in accordance with an illustrative embodiment;

FIG. 14 is a block diagram illustrating a system for steering control inaccordance with an illustrative embodiment;

FIG. 15 is a flowchart illustrating a process for braking control inaccordance with an illustrative embodiment;

FIG. 16 is a flowchart illustrating a process for steering control inaccordance with an illustrative embodiment;

FIG. 17 is a flowchart illustrating a process for coordinated control ofmovement in accordance with an illustrative embodiment;

FIG. 18 is a flow chart illustrating a method for grain cart cyclingaccording to an illustrative embodiment;

FIG. 19 a flow chart illustrating a grain bagging process that may takeplace in parallel with the method depicted in FIG. 20, according to anillustrative embodiment;

FIG. 20 is a flow chart illustrating a method for grain cart cyclingaccording to an illustrative embodiment; and

FIG. 21 is a flow chart illustrating a grain bagging method inaccordance with an illustrative embodiment.

DETAILED DESCRIPTION

The different illustrative embodiments recognize and take into account anumber of different considerations. For example, the illustrativeembodiments recognize and take into account that during crop harvesting,crop material is harvested and processed by a combine harvester. As thecrop material is harvested, it is carried in an onboard grain tankintegral to the harvester. As the grain tank becomes full, the grain maybe unloaded into a grain cart. When the amount of grain in the graincart approaches the capacity of the grain cart, the cart leaves thecombine and transports the grain to a storage location, unloads thegrain into a storage medium such as a grain bag, by means of an augerintegral to the grain cart. When the grain unloading is completed, thegrain cart returns to the combine harvester to receive more grain fromthe harvester.

Further, the different illustrative embodiments recognize and take intoaccount that the time required by the grain cart to complete its cycleis important to the field efficiency of the combine harvester. If thegrain cart, or grain carts, cannot complete this cycle before thecombine grain tank is full again, the combine must stop and wait for thegrain cart to return. This unproductive time may negatively impact theefficiency of the harvest operation and result in lost revenue. Fieldefficiency is especially important when the harvest time window isshort.

Also, the different illustrative embodiments recognize and take intoaccount that when plastic silo bags are used to store grain, as is oftendone in South American countries for example, the bags are often placedin a location that may be quite distant from the field where the combineharvester is operating. The bags are large and not portable. The timerequired for transporting the grain to a storage location, unloading thegrain, and returning to the combine harvester can be quite long. Thiskind of schedule then results in a prolonged cycle time which also leadsto field inefficiency, lost revenue, or it may drive the need foradditional capital expense in the form of additional grain carts.Conversely, shortened grain cart cycle time can improve fieldefficiency, productivity, and revenue.

Thus, in one aspect, the different illustrative embodiments recognizethat it would be desired to minimize grain cart cycle time in order todecrease equipment needs and increase the efficiency of the overallharvesting and storage operation.

The illustrative embodiments also recognize and take into accountfurther considerations. For example, the illustrative embodimentsrecognize and take into account that a grain bagger may load grain intoa grain bag. The grain bag is attached to the grain bagger and isinitially in an unexpanded configuration. In this configuration, thegrain bag may be compacted or folded. The different illustrativeembodiments recognize and take into account that filling the grain bagcauses the grain bag to expand on grain bagger. The filled portion ofthe grain bag may then move off of the grain bagger and rest on theground.

The illustrative embodiments recognize and take into account thatstretching and expansion of the grain bag exerts a force on the grainbagger. This force causes the grain bagger to move forward away from thegrain bag as the grain bag unfolds.

The illustrative embodiments also recognize and take into account thatit is desirable to fill the grain bag to as full as possible. Thisoperation may cause the grain bagger to move forward farther or fasterthan desired. The movement of the grain bagger may be controlled byapplying a braking force on the wheels of grain bagger. The illustrativeembodiments recognize and take into account that care is needed to avoidbraking the grain bagger in a manner that causes the grain bag tostretch in an undesired manner.

The illustrative embodiments recognize and take into account thatbraking force applied to the grain bagger is performed by an operatorthat observes the stretching of the grain bag and manually adjustsbraking of wheels accordingly. If the bag is understretched, the brakingforce is increased. If the bag is overstretched, the braking force islessened.

The illustrative embodiments recognize and take into account that themeasurement of grain bag stretch has been a measurement of the distancebetween stretch marks printed on, or otherwise applied to, the surfaceof a grain bag. Once filled, the grain bag is closed, detached from thegrain bagger, and the grain bag remains resting on the ground untilaccess of the stored grain therein is desired.

The illustrative embodiments recognize and take into account thatcurrently with operators manually observing the stretching of the bagand manually applying braking force, the forward movement of the grainbagger is rarely even or smooth, and is often plagued by uneven velocitychanges. The illustrative embodiments recognize and take into accountthat this situation may be problematical in properly placing grain intothe bag.

For example, an auger and hopper may be used in placing grain into thebag. Alignment of the auger with the hopper opening leading to the bagshould be maintained. The illustrative embodiments recognize and takeinto account that this type of alignment may not be as precise asdesired with human operators controlling the braking of the grainbagger. As a result, some grain may not reach the grain bag and may fallon the ground.

Also, the illustrative embodiments recognize and take into account thatthe current process of controlling a grain bagger includes the operationin which one operator may monitor the stretching of the grain bag andapply braking force to the grain bagger. In these examples, each of thetwo wheels of the grain bagger is independently braked. This arrangementmeans that the operator runs from side to side of the grain bagger toapply braking force independently to each of the two wheels. Further,the current manual process necessitates more than one operator to attendand manage the various items of equipment; additionally, more than onetractor is required with current equipment designs.

Thus, the illustrative embodiments provide a method and apparatus forloading grain. In one illustrative embodiment, an automated mobile grainbagger for loading grain into a bag includes a wheeled vehicle frame, abag attachment, a hopper, a grain distributor, a prime mover, a brakingsystem, a steering system, a controller, a braking control system, and asteering control system. The bag attachment is disposed on the frame,and the bag attachment is configured to receive attachment of a grainbag. The hopper is disposed on the vehicle, and the hopper is configuredto receive grain. The grain distributor is connected to the hopper andis configured to transfer grain from the hopper to the grain bag therebyfilling the bag, stretching the bag, and propelling the grain bagger.The prime mover, such as an engine, is configured to provide power tothe grain distributor. A braking system and a steering system are linkedto a controller. The controller is configured to control the brakingsystem and the steering system. The braking control system comprises asensor configured to provide bag stretch information to the controller,and the controller is further configured to provide braking commands tothe grain bagger braking system. The steering control system comprises acourse sensor configured to provide course information to thecontroller, and the controller is further configured to provide steeringcommands to the grain bagger steering system.

Still further, the illustrative embodiments provide a method formanaging the movement and storage of grain which includes the bulkunloading of grain. More particularly, the method includes the steps oftransporting grain from a harvesting location to an accumulation site,bulk unloading grain from a grain cart at the accumulation site,returning the grain cart to the harvesting location, and transferringthe grain from the accumulation site into a grain bag. The transporting,bulk unloading, and returning comprise a first process, and thetransferring the grain from the grain accumulation site into a grain bagcomprises a second process. The first process and the second process mayproceed in parallel. Parallel processing thus allows for increasedefficiency and reduced capital cost of equipment.

With reference now to the figures, and in particular, with reference toFIG. 1, a perspective view of vehicles in an operating environment isdepicted in accordance with an illustrative embodiment. In thisillustrative example, operating environment 100 may be any type ofwork-site with vegetation that can be harvested.

In this illustrative example, a grain loading operating environment 100includes several kinds of machines, vehicles, and equipment. A harvester101 operates so as to harvest vegetation. The vegetation may be, forexample, legumes, cereals, grains, soybeans, corn, wheat, barley, milo,sorghum, millet, and rye.

As depicted, grain cart 102 operates in conjunction with harvester 101.During operation, grain cart 102 receives grain from harvester 101 intoa bin 103 within grain cart 102. An auger 105, or similar transferdevice, transfers grain from harvester 101 into grain cart 102. Auger105 may be attached to harvester 101, to grain cart 102, or in otherembodiments, may be disposed as an autonomous item of equipment.

Grain cart 102 is a mobile vehicle and serves in one capacity totransfer grain 104 from the area of the harvester 101 to an area wherethe grain 104 may be placed into storage. Tractor 106 may be attached tograin cart 102 and pull grain cart 102. Further tractor 106 may supplygrain cart 102 with mechanical and hydraulic power via the power takeoff (PTO) attachments on tractor 106 that are connected to the tractorhydraulic system. A grain bagger 107 transfers grain from grain cart 102into a grain bag 108. Grain bagger 107 is also referred to as a grainbagging unit. Though perhaps used more frequently in countries otherthan the United States, grain bag 108 may be broadly described as alarge, sausage-shaped bag which receives grain for storage. When full,grain bag 108 may be several dozens of feet in length in an expandedstate and typically rests on the ground.

In general, FIG. 1 displays a static representation of a dynamicprocess. Harvester 101 moves through crops and harvests crops, such asgrain 104 therefrom. A temporary storage bin within harvester 101 fillswith grain 104 during harvesting. Grain cart 102 moves alongsideharvester 101 and receives grain 104 from the harvester storage bin intothe grain cart's bin 103. Grain cart 102 may be pulled by tractor 106 tomove into the desired position. When filled to a desired level, graincart 102 then moves away from harvester 101 and moves proximate to grainbagger 107. Depending on the size of the field to be harvested, or theyield of the crop therein, a number of items of equipment may be used.Thus, multiple harvesters 101 may be utilized. Multiple grain carts 102and tractors 106 may be in service. Further, multiple grain baggers 107may be operating.

With reference now to FIG. 2, a block diagram of a grain loadingenvironment is depicted in accordance with an illustrative embodiment.In this depicted example, grain loading environment 100 in FIG. 1 is anillustration of one implementation for grain loading environment 200.

In this illustrative example, grain loading system 240 is an example ofa system that may be used to load grain 204 into grain bag 225. Grainloading system 240 may comprise multiple components. For example, grainloading system 240 may include vehicle 208, grain cart 210, harvester224, and grain bagger 212.

Additionally, grain loading system 240 may provide a system in which twoprocesses occur simultaneously. One process includes harvesting withharvester 224 including the transport of a crop product such as grainfrom a harvesting location 299 to an accumulation site 291. A bulkunloading grain cart 271 may be used to transport the grain. Bulkunloading grain cart 271 can quickly unload grain in bulk; the bulkunloading grain cart 271 can bulk unload its grain load at accumulationsite 291. Also included in the first process is the return of bulkunloading grain cart 271 from accumulation site 291 to the harvestinglocation 299 of harvester 224 where bulk unloading grain cart 271 canpick up another load of grain. In a second process, which may occursimultaneously with the first process, a grain bagger 212 may receivethe unloaded grain that had been placed at the accumulation site 291 andload that grain into a grain bag 225. The second process, grain bagging,may also include a vehicle 208 such as a tractor and a grain cart 210.The second process may also proceed as a partially automated process. Asfurther explained herein, grain cart 210 and bulk unloading grain cart271 may have equipment and configuration differences.

The simultaneous processing described above advantageously reducesbottlenecks and increases efficiency with respect to grain harvestingand bagging. By decoupling the grain bagging process into a separateoperation which occurs in parallel with other processes, equipment isfreed up to participate in other processes such as receiving grain fromharvester 224 and transporting grain to the accumulation site 291.Further, the increased efficiency obtained through simultaneousprocessing decreases the need for extra capital equipment such as extragrain carts of any kind.

Continuing now with a further description of equipment included in grainloading system 240, vehicle 208 is any vehicle that is configured topull grain cart 210. In this particular example, vehicle 208 may be atractor. In an illustrative embodiment, tractor 208 is connected withgrain cart 210 and provides mechanical power 211 and hydraulic power 251to grain cart 210. Mechanical power 211 may be provided through thetractor's power take off, and hydraulic power 251 may be providedthrough the tractor's hydraulic system. Tractor 208 also provides powerfor pulling and positioning the wheeled grain cart 210 in a towingconfiguration. Tractor 208 may also include other typical systems anditems of equipment, not discussed in detail here, such as for example,an engine, transmission, and wheels or the like. Hence, tractor 208includes propulsion 289. Tractor 208 may also include a hydraulic pump,control valves, and fluid distribution system. The tractor 208 may alsoinclude a steering and braking system along with the associated itemsfor operator control of all these systems. Similarly, tractor 208 mayinclude controllers and sensors necessary for the supervision andcontrol of its systems. Tractor 208 may also provide a suitable locationfor an individual operator or attendant such as a tractor cab.

Grain cart 210 includes a grain bin 203. Grain bin 203 receives grain204. In a typical operation, grain 204 from harvester 224 is depositedinto grain bin 203 of grain cart 210. Grain cart 210 includes wheels sothat it may be towed to a desired location. Grain cart 210 furtherincludes an auger 223 or other form of grain transferor. Auger 223 maybe connected with hydraulics 213 configured in grain cart 210 fordeploying or storing auger 223. Hydraulics 213 receives hydraulic power251 from connection with the hydraulic system of tractor 208. Auger 223includes a distal end 201 which can be moved into a desired position asfurther described herein.

While the illustrative embodiment is described with tractor 208 towinggrain cart 210 it will be understood by those skilled in the art thatother configurations are possible. Another kind of vehicle may providetowing power to grain cart 210, or grain cart 210 may be self-powered.Additionally, grain cart 210 may receive mechanical and hydraulic powerfrom other sources besides that of a tractor. Additionally, grain cart210 may operate in whole or part through electrical energy and the useof electric motors.

System 200 additionally includes grain bagger 212. Grain bagger 212 mayinclude a frame with wheels 203. Grain bagger 212 also includes anattachment means 205 to which grain bag 225 may be affixed to grainbagger 212. Grain bagger 212 may include a prime mover 206 such as anengine. Grain bagger 212 may also include a hopper 202. Hopper 202 isgenerally configured so as to receive grain 204 that is transferred fromgrain cart 210 through auger 223 and into hopper 202. Hopper 202 mayfurther define an opening.

Grain bagger 212 is configured so as to transfer grain received inhopper 202 and load that grain into grain bag 225, such as by a pushingor stuffing of the grain through stuffing auger 207. Stuffing auger 207may receive its power through prime mover 206. Further connectionsbetween prime mover 206 and stuffing auger 207 may include belts andpulleys, tensioners, hydraulic connections, and other forms ofconnection. Stretch sensor 226 detects and indicates a level ofstretching of grain bag 225 as grain bag 225 expands with grain 204.

Grain bagger 212 further includes operational systems such as a steeringsystem 252 and braking system 209. Each such system includes theactuators or effectors necessary to execute steering and brakingcommands.

A controller 219 may also be disposed on grain bagger 212. Optionally,controller 219 may be disposed elsewhere and still operate inconjunction with respect to grain bagger 212. Controller 219 functionsso as to control various systems of grain bagger 212. In an illustrativeembodiment, controller 219 is linked to, and also works in conjunctionwith, a steering control system 215 and braking control system 216 ofgrain bagger 212. Steering control system 215 operates to controlsteering system 252, and braking control system 216 operates to controlbraking system 209. Steering control system 215 and braking controlsystem 206 also control and are in communication with actuators andeffectors necessary to control steering and braking. Steering controlsystem 215 may include course sensors 217 which provide course andsteering information to controller 219. Braking control system 216 mayinclude braking sensors 218 which provide braking information tocontroller 219.

Steering system 252 and steering control system 215 may also operatethrough a brake steering system 288. brake steering system 288 mayinclude a caster wheel 287 or third wheel. Caster wheel 287 isconfigured to turn freely. Caster wheel 287 may be placed in variouslocations on grain bagger 212, and in one illustrative embodiment isplaced in the front area of grain bagger 212 forward of wheels 203. Inthis manner, a braking force applied to one of paired wheels 203provides a one-sided braking force which further comprises a steeringimparted onto grain bagger 212.

Still referring to FIG. 2, system 200 also includes a coordinatedmovement system 220. Coordinated movement system 220 operates so as toprovide coordinated movement of grain cart 210 with respect to grainbagger 212. More specifically, coordinated movement system 220 operatesso as to allow auger 223 to stay in a loading position with respect tohopper 202 as both grain bagger 212 and grain cart 210 move. Coordinatedmovement system 220 includes controller 219 and coordinated movementsensor 222. Coordinated movement sensor 222 detects the relativeposition of auger 223 and hopper 202 and communicates this informationto controller 221. Controller 221 generates course adjustmentinformation and transmits it to one or more vehicles in system 200 so asto coordinate movement therein. Coordinated movement system 220 mayinclude position sensor 253. In an illustrative embodiment positionsensor 253 is shown as associated with grain cart 210 and grain bagger212. Alternatively, position sensor 253 may be associated with only oneof these items.

Still referring to FIG. 2, a further illustrative embodiment includesplatform 227. Platform 227 may include a movement system 228 whereinmovement system 228 is configured to control the movement of platform227 such as by operating a steering system 252 and braking system 209.Movement system 228 may further include a propulsion means.

Platform 227 may further be associated with channel 229, first opening230, and second opening 231. Platform 227 may further operate inconjunction with source of grain 232. Platform 227 may operate such thatgrain 204 is received at first opening 230, grain passes through channel229, and grain passes into bag 225 from platform 227 through secondopening 231.

In an illustrative embodiment, first opening 230 may correspond tohopper 202, and channel 229 may correspond to stuffing auger 227. Secondopening 231 may correspond to bag attachment means 205.

Source of grain 232 provides grain 204 to platform 227. In anillustrative embodiment, source of grain 232 may correspond to graincart 210 and vehicle 208. Auger 223 may be included with grain cart 210.

Platform 227 may further operate in conjunction with controller 219. Forexample, controller 219 may manage and control movement system 228.Sensor system 233 may operate with controller 219. Sensor system 233 mayinclude each of steering control system 215 and braking control system216. Sensor system 233 may further detect position information withrespect to each of platform 227 and source of grain 232.

As described herein, a first component may considered to be associatedwith a second component by being secured to the second component, bondedto the second component, fastened to the second component, and/orconnected to the second component in some other suitable manner. Thefirst component also may be connected to the second component using athird component. The first component may also be considered to beassociated with the second component by being formed as part of, and/oran extension of, the second component.

As used herein, the phrase “at least one of”, when used with a list ofitems, means that different combinations of one or more of the listeditems may be used and only one of each item in the list may be needed.For example, “at least one of item A, item B, and item C” may include,for example, without limitation, item A or item A and item B. Thisexample also may include item A, item B, and item C, or item B and itemC.

Referring now to a further aspect of FIG. 2, a bulk unloading grain cartis also depicted operating within grain loading environment 200 inaccordance with an illustrative embodiment. A bulk unloading grain cart271 may also operate in conjunction with the embodiments shown inFIG. 1. In addition to the features and descriptions heretoforeexplained with respect to grain cart 210, bulk unloading grain cart 271may further include additional features allowing it to perform dumpunloading. Bulk unloading grain cart 271 may include a bulk unloadingsystem 272. Bulk unloading system 272 may include a rear dump 273, aside dump 274, or a bottom dump 275. A rear dump 273 encompasses a bulkunloading or gravity dump through a rear area of the bulk unloadinggrain cart 271. Side dump 274 encompasses bulk unloading or gravitydumping through a side area, and bottom dump 275 encompasses bulkunloading or gravity dumping of grain through a bottom area of the bulkunloading grain cart 271.

As used herein, the term bulk unloading refers to an unloading of a cropproduct such as grain done in bulk. Bulk unloading includes a gravityassisted unloading of bulk grain. Further, gravity unloading includesany kind of unloading done in bulk in which potential energy arisingfrom an elevated position of the grain relative to a lower positionassists in facilitating the unloading of the grain from an elevatedposition to a lower position. Bulk unloading may further be assisted bymechanical devices such as inclining beds, pushers, sweeps, plungers,and the like configured so as to move grain away from a storage pointsuch that gravity will pull the grain to a lower position.

As used herein a grain bag refers to a flexible container configured tohold grain. A grain bag may be made of various materials. For example,the material may be, cloth, burlap, plastic. A grain bag may be affixedto a grain bagger, initially in a stored, compacted, or folded position.Upon receiving a loading or stuffing of grain, the grain bag can expandor stretch so as to receive the loaded grain.

Associated with bulk unloading system 272 are hydraulic piston andcylinder 276, including multiple sets thereof, and dump hydraulics 277.Sets of piston and cylinder 276 and dump hydraulics 277 are configuredso as to assist or enable bulk unloading. For example, a moveable flooror portion of bulk unloading grain cart 271 may be elevated throughhydraulic force so as to achieve bulk unloading. Other ancillaryhydraulic equipment such as pumps, hoses, valves, and the like may alsobe present. Bulk unloading system 272 may include still other kinds ofequipment. For example, the bulk unloading grain cart 271 may includequick release doors, windows, or gates that allow a quick gravitydumping of granular crop product. Moveable doors or gates such as hingeddoors or sliding doors may further be employed. Thus, bulk unloadinggrain cart 271 may also include one or more of a gate 278, door 279, orwindow 280 for allowing bulk unloading therefrom.

Bulk unloading grain cart 271 may also include hinge 281, valves,latches and the like to enable mechanical movement of bulk unloadingsystem 272.

Still referring to FIG. 2 an accumulation site is depicted with respectto grain loading environment 200 in accordance with an illustrativeembodiment. Accumulation site 291 receives bulk unloading of grain. Anaccumulation site 291 may include a grain dump site, a storage bin, agrain hopper, a grain truck, or a grain rail car.

The location of accumulation site 291 may also vary. It may be locatedon the ground 296. A grain dump 292 for example may constitute a grainpile on the ground. The location may be above ground 297. For example, agrain rail car 295, storage bin 293, or grain truck 294 may rest on theground such that its storage area is above ground. The bulk unloadinggrain cart 271 may drop its contents into such an above ground position.Movement of the bulk unloading grain cart 271 on ramps or an elevatedstructure so as to make a bulk unloading into a grain truck 294 or grainrail car 295 is within the scope of the embodiment. Additionally, thelocation of accumulation site 291 may be below ground 298. For example,a pit or trench may be dug and grain gravity dumped therein. A liner orseparator may be included so as to isolate the grain or other cropproduct from contacting the ground in any of these configurations.

The illustration of grain loading environment 200 in FIG. 2 is not meantto imply physical or architectural limitations to the manner in whichdifferent advantageous embodiments may be implemented. Other componentsin addition to, and/or in place of, the ones illustrated may be used.Some components may be unnecessary in some advantageous embodiments.Also, the blocks are presented to illustrate some functional components.One or more of these blocks may be combined and/or divided intodifferent blocks when implemented in different advantageous embodiments.

For example, in some illustrative examples, vehicle 208 and grain cart210 may be a single platform. For example, grain bin 203 in grain cart210 may incorporated into vehicle 208. For example, controller 221 andcontroller 219 may be combined controllers. For example, coordinatedmovement system 220 may be incorporated into a combined platform ofvehicle 208 and grain cart 210. Additionally, coordinated movementsystem 220 may also encompass vehicle 208 in its coordination ofmovement.

Referring next to FIG. 3 a bar chart of a grain cart cycle time isdepicted according to an illustrative embodiment. Element 301 reflectsan overall grain cart cycle time, which may include a cycle time asgrain cart 210 participates in a harvesting and bagging operation asfurther depicted in FIG. 1 or 2. Cycle time 301 itself breaks down intosubcycles. Unit 302 reflects the travel time of grain cart 210 as ittravels from harvester 224 to a bagging site. Unit 303 then reflects thetime that grain cart 210 spends transferring its grain contents into agrain bag 225. The next unit of time 304, represents the travel time ofgrain cart 210 as it returns from the bagging site to the location ofthe combine harvester 224. Thus, cycle time 301 reflects the combinedcycle time that grain cart 210 spends in travel away from harvester 224,unloading grain into grain bag 225, and returning to harvester 224.

The use of plastic silo bags 224 during a grain harvesting operationprovides a framework in which to design a process improvement asrelating to the grain cart cycle time. As shown in FIG. 3, a significantportion of cycle time 301 is spent in the unit of time 303 intransferring the contents of a full grain cart. Transfer time 303represents a potential bottleneck. In one embodiment, cycle time 301 isimproved by shortening the length of grain cart transferring time 303.In a further embodiment, cycle time 301 is further improved bydecoupling the operations within grain cart transferring 303, intosubprocesses of grain unloading and grain bagging. The subprocesses canthen be scheduled so as to take place simultaneously, in parallel withother cycle time operations, thereby further improving grain cart cycletime 301.

Referring next to FIG. 4 a bar chart depicting a modified grain cartcycle time 401 is illustrated according to an illustrative embodiment.Cycle time 401 is shorter than cycle time 301. Cycle time 401 includessubprocesses. A first time unit 402 comprises the travel time of a fullgrain cart 210 from harvester 224 to the grain bagging site. A unit ofunloading time 403 comprises a time in which grain cart 210 makes a bulkunloading of grain 225 at an accumulation site 291. Time unit 404corresponds to the travel time during which grain cart 210 returns fromthe accumulation site 291 to the harvester 224. The three subprocesses,travel time 402, bulk unloading 403, and return travel 404 compriseprocess one 406.

A further unit of time 405 comprises transferring grain from theaccumulation site 291 into a grain bag 225. The process of transferringgrain that corresponds to unit 405 need not involve the same grain cart210 as used during subprocesses 402, 403, and 404, but differentequipment may be used, as explained further herein. The unit of time 405and its associated activity transferring grain from the accumulationsite 291 to the gain bag 225 comprises process two 407.

In an illustrative embodiment, process one 406 and process two 407 ofFIG. 4 take place simultaneously. Simultaneous processing of the twoprocesses results in advantageous time savings for the overallharvesting and bagging operation.

Comparing FIG. 3 and FIG. 4, certain contrasts are noted. Bulk unloadingstep 403 is shorter than grain bagging step 302 in FIG. 3. However, ingeneral, travel time 302 is roughly equivalent to travel time 402; eachis the similar travel of time of a grain cart 210 traveling from aharvester 224 to an unloading location. In FIG. 3, the unloadinglocation would be a location where grain bagging occurs 303, and in FIG.4, the unloading location would be an accumulation site 291. Thus,travel time 402 may be somewhat different from travel time 402 in thatthe destination in 402 is an accumulation site 291 whereas thedestination site in 402 is a grain bagging location.

Additionally, travel time 404 is roughly equivalent to travel time 404in that each represents a return travel time of a grain cart 210 to aharvester 224. However, again, the two return times 304 and 404 may besomewhat different in that the start points differ. In 404, the startpoint is a grain bagging location, and for 304 the start point is theaccumulation site 291.

Interval 403 corresponds to a bulk unloading of grain 204 from graincart 210. For this reason, interval 403 is shorter than interval 303. Inbulk unloading, the mass of grain 204 held within grain bin 203 of graincart 210 s unloaded in a quickened period of time. An illustrativeexample of bulk unloading is a gravity dump. A further illustrativeexample of bulk unloading includes dumping a load of grain from a graincart configured with a dump truck configuration. A still furtherillustrative example of bulk unloading includes dumping a load of grainfrom an opening such as a door or gate configured in the grain cart.

Various illustrative embodiments of the grain cart which incorporatebulk unloading features are described further herein.

Still referring to FIG. 4, interval 403 also includes the bulk unloadingof grain at an accumulation site 291. An accumulation site 291 comprisesa location in which a crop material such as grain carried in a bulkunloading grain cart 271, may undergo bulk unloading. Accumulation site291 may further correspond to a location at which multiple loads ofgrain are bulk unloaded, either by the same, or a plurality ofdifferent, bulk unloading grain carts 271. In an illustrativeembodiment, accumulation site 291 comprises a grain dump site located onthe ground. In a further illustrative embodiment, accumulation site 291is a bulk grain storage bin such as a bulk grain truck or rail car.

Concluding with the description of FIG. 4, unit 404 represents thetravel time during which bulk unloading grain cart 271 returns toharvester 224 from accumulation site 291. Unit 405 represents a unit oftime to transfer grain at the accumulation site 291 into a grain bag225. However, as depicted in FIG. 4, the transferring of grain into bag225 may occur simultaneously with respect to the other time units.

Referring now to FIG. 5, an illustration of a grain loading system isdepicted in accordance with an illustrative embodiment. In this depictedexample, grain loading system 500 is an example of one implementationfor grain loading system 240 in FIG. 2. The grain bagging operationgenerally proceeds as follows in accordance with an illustrativeembodiment. The operation of FIG. 5 may also proceed in accordance withthe illustrative embodiments as shown in FIGS. 1 and 2. An auger 511disposed on grain cart 508 is moved such that a distal end 501 orfilling end of auger 511 is positioned over a hopper 502 on grain bagger506.

Operation of auger 511 transports grain 509 from the storage bin 510 ingrain cart 508 through auger 511 so as to fall from distal end 501 ofauger 511 into hopper 502 on grain bagger 506. Once the grain 509 hasfallen within hopper 502, the grain 509 is transferred into grain bag505. The transfer into the bag can take place through several knownprocesses. These processes include, for example, the use of a secondauger (not shown) and a bagging auger, which pushes the grain 509 intograin bag 505 so as to cause grain bag 505 to stretch.

In these illustrative examples, an empty grain bag 505 is loaded ontograin bagger 506 in a compacted or folded arrangement. The filling andstretching of grain bag 505 with grain causes the expanding bag 505 tounwind from its loaded and compacted position on grain bagger 506. Thefilled portion of grain bag 505 then moves off of grain bagger 506 andrests on the ground. Additionally, the stretching and expansion of grainbag 505 exerts a propelling force on grain bagger 506 itself so as tourge grain bagger 506 in a forward movement, a movement away from theunfolding grain bag 505.

In order to obtain a desired level of stretch and filling of grain bag505, the forward movement of grain bagger 506 is retarded throughapplication of braking force on the wheels 503 of grain bagger 506.However, care must be taken not to overbrake grain bagger 506 lest thiscause grain bag 505 to stretch unduly. Consequently, it has been amanual operation performed by equipment attendants to closely observethe stretching of grain bag 505 and adjust braking of wheels 503accordingly. If the bag 505 is understretched, the braking force isincreased; and if the bag 505 is overstretched, the braking force islessened. Heretofore, the measurement of grain bag stretch has been asimple direct measurement of the distance between stretch marks printedon, or otherwise applied to, the surface of grain bag 505. Once filled,grain bag 505 is closed, detached from grain bagger 506, and grain bag505 remains resting on the ground until access the stored grain thereinis desired.

Continuing with the description of the filling of grain bag 505, it isnoted that grain bagger 506 slowly creeps forward as the attached grainbag 505 fills with grain 509. This movement of grain bagger 506 alsomeans that attached hopper 502 also moves forward. However, as currentlypracticed, with manual observations of bag stretching and manualapplication of braking force, the forward movement of grain bagger israrely even or smooth and is often plagued by uneven velocity changes.This situation is problematical because distal end 501 of auger 511should be maintained in a position over hopper 502, a loading position,so that grain 509 may fall by gravity from auger 511 into hopper 502.Current loading operations suffer from loss of grain when distal end 501of auger 511 falls out of the loading position with respect to hopper502 such that grain 509 does not fall into hopper 502 but misses hopper502 altogether and falls on the ground. In current practice, a driver oftractor 507 will attempt to observe the positioning of distal end 501 ofauger 511 with respect to hopper 502 and will attempt to adjust thevelocity of tractor 507 accordingly. It is attempted to maintain thevelocity of tractor 507, which pulls grain cart 508, so as to match thatof grain bagger 506, and in this way to also maintain the desiredpositioning of auger 511 and hopper 502. This operation requires thedriver to maintain constant vigilance of the auger 511 and hopper 502.Additionally, because the movement of grain bagger 506 tends to beuneven, the attention by the tractor driver on the controls of thetractor's brake and accelerator may be more than desired.

With respect to manpower needs, in current practice the grain baggingoperation requires multiple attendants. Typically, one attendant is usedexclusively to monitor the stretching of the grain bag 505 and to applybraking force to the grain bagger 506. The attendant, in addition tomonitoring the bag stretch and applying braking, may also be employed insteering a second tractor (not shown) that is attached to the grainbagger. In these examples, each of the two wheels 503 is independentlybraked. This arrangement means that the attendant runs from side to sideof grain bagger 506 to apply braking force independently to each of thetwo wheels 503. Additionally, the attendant may be climbing into and outof the cab of the second tractor in order to switch between steering ofthe tractor and managing the grain bagger. This activity is potentiallyunsafe and can become an unmanageable level of work for the attendant.

In current system configurations, braking is applied manually as bytorquing an external brake pad onto an upper surface of a rubber tire503. This also has the shortcoming of the attendant only being able toapproximate an equal braking strength onto each of the tires. If thereis no third worker present to steer the second tractor, the secondattendant is also typically employed to steer the second tractor (notshown) that is attached to the grain bagger. It is noted that in currentpractice the second tractor is required to provide mechanical (PTO)power so as to operate the stuffing auger of grain bagger 506.Additionally, a further attendant operates the tractor 507 that isattached to grain cart 508. In the automated embodiments describedherein, the grain bagging operation dispenses with the second tractoraltogether and reduces manpower needs to a single driver of the graincart's tractor 507.

The different illustrative embodiments overcome these shortcomings byproviding automated bag stretch detection coupled with automated brakingand automated steering control of grain bagger 506. Further, differentillustrative embodiments provide automated detection of auger 511 andhopper 502 positioning such that coordinated movement of grain bagger506 and tractor 507 and grain cart 508 maintain the distal end 501 ofauger 511 in the loading position relative to hopper 502. An engine 504,or prime mover positioned on grain bagger 506, provides power to grainbagger 506 which had previously been supplied by the second tractor PTO.Thus, in the illustrative embodiment, the grain bagger is self-powered.This allows an operator to completely eliminate the second tractor fromthe grain bagging operation. Additionally, due to the automated systemnow provided, the grain bagging operation can proceed with minimal humansupervision. Personnel needs can be reduced to a single attendant.

Robotic or autonomous vehicles, sometimes referred to as mobile roboticplatforms, generally have a centralized robotic control system thatcontrols the operational systems of the vehicle. In differentembodiments of the automated grain bagger 506, the operational systemsmay include steering and braking systems. Some military vehicles havebeen adapted for autonomous operation. In the United States, some tanks,personnel carriers, Stryker vehicles, and other vehicles have beenadapted for autonomous capability. Generally, these are to be used in ateleoperated or manned mode as well.

Robotic control system sensor inputs to grain bagger 107, as shown inFIG. 1, may include data associated with the vehicle's destination,preprogrammed path information, and detected obstacle information. Basedon such data associated with the information above, the vehicle'smovements are controlled. Obstacle detection systems within a vehiclemay use scanning lasers to scan a beam over a field of view, or camerasto capture images over a field of view. The scanning laser may cyclethrough an entire range of beam orientations, or provide random accessto any particular orientation of the scanning beam. The camera orcameras may capture images over the broad field of view, or of aparticular spectrum within the field of view. For obstacle detectionapplications of a vehicle, the response time for collecting image datashould be rapid over a wide field of view to facilitate earlyrecognition and avoidance of obstacles.

Optionally, simplified sensor inputs for the automated grain bagger 107as in FIG. 1 may rely on GPS information or radio signals. The grainbagger 107 in FIG. 1 may include a GPS receiver so as to receive GPSinformation or radio signal regarding the grain cart's location.Additionally, a desired course or way point can be selected andprogrammed into a GPS or course controller. In this manner, comparisonof the sensed location with the desired location allows the controllerto produce a course correction information and signal which is sent tovehicle actuators.

Location sensing devices include odometers, global positioning systems,and vision-based triangulation systems. Many location sensing devicesare subject to errors in providing an accurate location estimate overtime and in different geographic positions. Odometers are subject tomaterial errors due to surface terrain. Satellite-based guidancesystems, such as global positioning system-based guidance systems, whichare commonly used today as a navigation aid in cars, airplanes, ships,computer-controlled harvesters, mine trucks, and other vehicles, mayexperience difficulty guiding when heavy foliage or other permanentobstructions, such as mountains, buildings, trees, and terrain, preventor inhibit global positioning system signals from being accuratelyreceived by the system. Vision-based triangulation systems mayexperience error over certain angular ranges and distance ranges becauseof the relative position of cameras and landmarks.

In order to provide a system and method where multiple vehiclesaccurately navigate and manage a work-site, specific mechanicalaccommodations for processing means and location sensing devices arerequired. Therefore, it would be advantageous to have a method andapparatus to provide additional features for navigation and coordinationof multiple vehicles.

The illustrative embodiments recognize a need for a system and methodwhere grain bagging vehicles can accurately navigate and manage a grainbagging operation at a work-site. Therefore, the illustrativeembodiments provide a computer implemented method, apparatus, andcomputer program product for coordinating multiple vehicles in automatedgrain bagging operation. A grain bagger is provided with sensorsconnected to controllers so as to provide automated braking and steeringcommands for the grain bagger. Further machine behaviors are assigned tomultiple vehicles such as tractors and the grain bagger for performingautomated grain bagging. The vehicles are coordinated to perform thetask using the assigned behaviors and a number of signals received fromother vehicles and the environment during performance of the task.

In addition, the different illustrative embodiments may be implementedin any number of vehicles. For example, the different illustrativeembodiments may be implemented in as few as two vehicles, or in four orfive vehicles, or any number of multiple vehicles. Further, thedifferent illustrative embodiments may be implemented in a heterogeneousgroup of vehicles or in a homogeneous group of vehicles.

The description of the different advantageous embodiments has beenpresented for purposes of illustration and description, and is notintended to be exhaustive or limited to the embodiments in the formdisclosed. Many modifications and variations will be apparent to thoseof ordinary skill in the art. Further, different embodiments may providedifferent advantages as compared to other embodiments. The embodiment orembodiments selected are chosen and described in order to best explainthe principles of the invention, the practical application, and toenable others of ordinary skill in the art to understand the inventionfor various embodiments with various modifications as are suited to theparticular use contemplated.

With reference now to FIG. 6, a block diagram of a data processingsystem which may be used in conjunction with the previously describedsystems and equipment in FIGS. 1, 2, and 5 is depicted in accordancewith an illustrative embodiment. Data processing system 600 is anexample of one manner in which the network environment across andagricultural vehicles 101, 102, 106 and 107 in FIG. 1 may beimplemented. In this illustrative example, data processing system 600includes communications fabric 602, which provides communicationsbetween processor unit 604, memory 606, persistent storage 608,communications unit 610, input/output (I/O) unit 612, and display 614.

Processor unit 604 serves to execute instructions for software that maybe loaded into memory 606. Processor unit 604 may be a set of one ormore processors or may be a multi-processor core, depending on theparticular implementation. Further, processor unit 604 may beimplemented using one or more heterogeneous processor systems in which amain processor is present with secondary processors on a single chip. Asanother illustrative example, processor unit 604 may be a symmetricmulti-processor system containing multiple processors of the same type.

Memory 606 and persistent storage 608 are examples of storage devices. Astorage device is any piece of hardware that is capable of storinginformation either on a temporary basis and/or a permanent basis. Memory606, in these examples, may be, for example, a random access memory orany other suitable volatile or non-volatile storage device. Persistentstorage 608 may take various forms depending on the particularimplementation. For example, persistent storage 608 may contain one ormore components or devices. For example, persistent storage 608 may be ahard drive, a flash memory, a rewritable optical disk, a rewritablemagnetic tape, or some combination of the above. The media used bypersistent storage 608 also may be removable. For example, a removablehard drive may be used for persistent storage 608.

Communications unit 610, in these examples, provides for communicationswith other data processing systems or devices. In these examples,communications unit 610 is a network interface card. Communications unit610 may provide communications through the use of either or bothphysical and wireless communication links.

Input/output unit 612 allows for input and output of data with otherdevices that may be connected to data processing system 600. Forexample, input/output unit 612 may provide a connection for user inputthrough a keyboard and mouse. Further, input/output unit 612 may sendoutput to a printer. Display 614 provides a mechanism to displayinformation to a user.

Instructions for the operating system and applications or programs arelocated on persistent storage 608. These instructions may be loaded intomemory 606 for execution by processor unit 604. The processes of thedifferent embodiments may be performed by processor unit 604 usingcomputer implemented instructions, which may be located in a memory,such as memory 606. These instructions are referred to as program code,computer usable program code, or computer readable program code that maybe read and executed by a processor in processor unit 604. The programcode in the different embodiments may be embodied on different physicalor tangible computer readable media, such as memory 606 or persistentstorage 608.

Program code 616 is located in a functional form on computer readablemedia 618 that is selectively removable and may be loaded onto ortransferred to data processing system 600 for execution by processorunit 604. Program code 616 and computer readable media 618 form computerprogram product 620 in these examples. In one example, computer readablemedia 618 may be in a tangible form, such as, for example, an optical ormagnetic disc that is inserted or placed into a drive or other devicethat is part of persistent storage 608 for transfer onto a storagedevice, such as a hard drive that is part of persistent storage 608. Ina tangible form, computer readable media 618 also may take the form of apersistent storage, such as a hard drive, a thumb drive, or a flashmemory that is connected to data processing system 600. The tangibleform of computer readable media 618 is also referred to as computerrecordable storage media. In some instances, computer readable media 618may not be removable.

Alternatively, program code 616 may be transferred to data processingsystem 600 from computer readable media 618 through a communicationslink to communications unit 610 and/or through a connection toinput/output unit 612. The communications link and/or the connection maybe physical or wireless in the illustrative examples. The computerreadable media also may take the form of non-tangible media, such ascommunication links or wireless transmissions containing the programcode.

The different components illustrated for data processing system 600 arenot meant to provide architectural limitations to the manner in whichdifferent embodiments may be implemented. The different illustrativeembodiments may be implemented in a data processing system includingcomponents in addition to, or in place of, those illustrated for dataprocessing system 600. Other components shown in FIG. 6 can be variedfrom the illustrative examples shown.

As one example, a storage device in data processing system 600 is anyhardware apparatus that may store data. Memory 606, persistent storage608, and computer readable media 618 are examples of storage devices ina tangible form.

In another example, a bus system may be used to implement communicationsfabric 602 and may be comprised of one or more buses, such as a systembus or an input/output bus. Of course, the bus system may be implementedusing any suitable type of architecture that provides for a transfer ofdata between different components or devices attached to the bus system.Additionally, a communications unit may include one or more devices usedto transmit and receive data, such as a modem or a network adapter.Further, a memory may be, for example, memory 606 or a cache, such asfound in an interface and memory controller hub that may be present incommunications fabric 602.

With reference now to FIG. 7, a block diagram of a vehicle coordinationsystem is depicted in accordance with an illustrative embodiment. Inthis example, vehicle architecture 700 is an example of a vehicle, suchas agricultural vehicle 106 or 107, in FIG. 1 or vehicle 208, grainbagger 212, or tractor 208 as shown in FIG. 2. In this example, vehiclearchitecture 700 has components that control systems of the vehicle. Inthis example, vehicle architecture 700 includes machine control system702, perception system 706, reactive emergency behaviors 708,coordination system 710, communications system 712, and machinecoordination behavior library 714.

Machine control system 702 provides basic mobility functions, such as,for example, without limitation, steering, gear shifting, throttling,and braking, as well as a task, such as payload functions, which mayinclude grain harvesting. Machine control system 702 may include anumber of redundant vehicle control components located on each vehiclein a worksite to provide machine control with fault tolerance. Forexample, redundant actuators controlling a braking system may providefor fault tolerance if one actuator malfunctions, enabling anotheractuator to maintain control of the braking system for the vehicle andproviding high integrity to the vehicle control system. Different typesof control components also may be present for controlling the samefunction on a vehicle. In one illustrative embodiment, at low speeds,steering can be accomplished by selectively locking wheels to implementskid steering. In another illustrative embodiment, vehicle speed can bereduced by shifting to a lower gear and letting the engine providebraking action.

Machine control system 702 may have a direct connection 704 toperception system 706. Direct connection 704 allows machine controlsystem 702 to implement select reactive emergency behaviors 708 inresponse to information received from perception system 706.

Perception system 706 collects information about the environment arounda vehicle using multiple redundant heterogeneous sensors. Perceptionsystem 706 may have a direct connection 704 to machine control system702. In this example, information collected by perception system 706 issent to machine control system 702 to provide data in identifying howthe vehicle should move in response to different environmental factors.

Reactive emergency behaviors 708 may include, for example, collisionavoidance behaviors. Examples of collision avoidance behaviors may bebehaviors, such as steering around an object or braking to avoidcollision with an object.

Coordination system 710 performs processing for machine coordination.The processing means may be physically co-existing with machine controlsystem 702, or have separate processing resources. Coordination system710 may have multiple processors in case one processor fails. Theredundancy may include having different types of components for the samefunctions. For example, two different types of operating systems may beused to execute behaviors used to coordinate movement of the vehicle incase an error occurs in one of the operating systems.

Coordination system 710 may share processing means with machine controlsystem 702 or may have separate processing resources. The processingresources may be located locally in vehicle architecture 700 or acombination in which some processing components are located in vehiclearchitecture 700 and some processing components are located remotelyfrom vehicle architecture 700. Coordination system 710 can receiveinformation from each of machine control system 702, perception system706, reactive emergency behaviors 708, communications system 712, andmachine coordination behavior library 714. Coordination system 710evaluates the information received by each of these systems in order toeither initiate a new behavior or continue with the current behavior.Proposed new behaviors are compared across the redundant processingmeans and resources to determine the actual action to signal to highintegrity vehicle architecture 700. A coordinated behavior is a machinebehavior that involves at least one additional machine, results in achange of state for at least one of the machines, and cannot beaccomplished by the machines acting independently of one another. Thereis at least one of a shared goal, shared future state, shared intention,shared plan, or a shared mission which may be shared a priori, begenerated in situ, or be a combination of the two, such as an a priorplan which is updated based on in-situ conditions. A coordinatedbehavior for multiple vehicles may result in sequences or steps of moreprimitive behaviors being passed to high integrity machine controlsystem 702 for execution and status reporting. For example, in anillustrative embodiment, a coordinated behavior of “maintain loadingposition of auger and hopper” may result in sequences of primitivebehaviors such as tractor and grain cart control. These sequences orsteps may be executed by high integrity machine control system 702.

Communications system 712 contains multiple communication links andchannels which may also provide redundancy for fail-safe communications.For example, communications system 712 may include AM radio frequencychannels, FM radio frequency channels, cellular frequencies, globalpositioning system receivers, Bluetooth receivers, Wi-Fi channels, andWi-Max channels.

Machine coordination behavior library 714 is accessed by processingmeans of coordination system 710. Machine coordination behavior library714 contains machine behaviors 716, 718, and 720, which are specific tomachine coordination. Other non-coordinating behaviors, such as pathtrajectory following and automatic cruise control, may be locatedelsewhere, such as in machine control system 702. There may be multiplecopies of machine coordination behavior library 714 on each vehiclesystem, such as vehicle architecture 700.

Machine coordination behavior library 714 supports a wide range of typesof coordination behaviors. For example, in an illustrative embodiment,machine behaviors 716, 718, and 720 may be coordination behaviors fortasks and sub-tasks or aspects of a task. Examples of tasks may include,without limitation, grain bagging, coordinated movement, tool (auger)unfolding, tool storage, traveling over terrain, and the like.

With reference now to FIG. 8, a block diagram of components used tocontrol a vehicle is depicted in accordance with an illustrativeembodiment. In this example, vehicle 800 is an example of a vehicle,such as agricultural vehicle 106 or 107 in FIG. 1 or vehicle 208, grainbagger 212, or tractor 208 as shown in FIG. 2. Vehicle 800 is an exampleof one implementation of vehicle architecture 700 in FIG. 7. In thisexample, vehicle 800 includes machine controller 802, steering system804, braking system 806, propulsion system 808, sensor system 810,communication unit 812, behavior system 816, behavior library 818, andknowledge base 820.

Machine controller 802 may be, for example, a data processing system,such as data processing system 600 in FIG. 6, or some other device thatmay execute processes to control movement of a vehicle. Machinecontroller 802 may be, for example, a computer, an applicationintegrated specific circuit, and/or some other suitable device.Different types of devices and systems may be used to provide redundancyand fault tolerance. Machine controller 802 includes control software822 and coordination software 824. Machine controller 802 may executeprocesses using control software 822 to control steering system 804,braking system 806, and propulsion system 808 to control movement of thevehicle. Machine controller 802 may also use coordination software 824to coordinate the movements of each vehicle receiving commands frommachine controller 802. Machine controller 802 may send various commandsto these components to operate the vehicle in different modes ofoperation. These commands may take various forms depending on theimplementation. For example, the commands may be analog electricalsignals in which a voltage and/or current change is used to controlthese systems. In other implementations, the commands may take the formof data sent to the systems to initiate the desired actions.

Steering system 804 may control the direction or steering of the vehiclein response to commands received from machine controller 802. Steeringsystem 804 may be, for example, an electrically controlled hydraulicsteering system, an electrically driven rack and pinion steering system,an Ackerman steering system, a skid-steer steering system, adifferential steering system, or some other suitable steering system.

Braking system 806 may slow down and/or stop the vehicle in response tocommands from machine controller 802. Braking system 806 may be anelectrically controlled steering system. This steering system may be,for example, a hydraulic braking system, a friction braking system, orsome other suitable braking system that may be electrically controlled.

In these examples, propulsion system 808 may move the vehicle inresponse to commands from machine controller 802. Propulsion system 808may maintain or increase the speed at which a vehicle moves in responseto instructions received from machine controller 802. Propulsion system808 may be an electrically controlled propulsion system. Propulsionsystem 808 may be, for example, an internal combustion engine, aninternal combustion engine/electric hybrid system, an electric engine,or some other suitable propulsion system.

Sensor system 810 includes a perception system and may be a set ofsensors used to collect information about systems and the environmentaround a vehicle. In these examples, the information is sent to machinecontroller 802 to provide data in identifying how the vehicle shouldmove in different modes of operation. In these examples, a set refers toone or more items. A set of sensors is one or more sensors in theseexamples.

Communication unit 812 includes a communications system and may providemultiple redundant communication links and channels to machinecontroller 802 to receive information. The communication links andchannels may be heterogeneous and/or homogeneous redundant componentsthat provide fail-safe communication. This information includes, forexample, data, commands, and/or instructions. Communication unit 812 maytake various forms. For example, communication unit 812 may include awireless communications system, such as a cellular phone system, a Wi-Fiwireless system, a Bluetooth wireless system, and/or some other suitablewireless communications system. Further, communication unit 812 also mayinclude a communications port, such as, for example, a universal serialbus port, a serial interface, a parallel port interface, a networkinterface, and/or some other suitable port to provide a physicalcommunications link. Communication unit 812 may be used to communicatewith a remote location or an operator.

Behavior system 816 contains behavior library 818, which in turncontains various behavioral processes specific to machine coordinationthat can be called and executed by machine controller 802. Behaviorsystem 816 may be implemented in a remote location or in one or morevehicles. Behavior system 816 may be distributed throughout multiplevehicles, or reside locally on one control vehicle, such as vehiclearchitecture 700 in FIG. 7. In an illustrative embodiment, wherebehavior system 816 resides on one control vehicle, the control vehiclemay distribute behavior libraries as needed to one or more othervehicles. In another illustrative embodiment, some components ofbehavior system 816 may be located in a control vehicle or in one ormore vehicles, while other components of behavior system 816 may belocated in a back office or remote location (not shown). For example,behavior library 818 may be located on a vehicle while other aspects ofbehavior system 816 are located in a back office or remote location (notshown). In one illustrative embodiment, there may be multiple copies ofbehavior library 818 within behavior system 816 on vehicle 800 in orderto provide redundancy.

Knowledge base 820 contains information about the operating environment,such as, for example, a fixed map showing streets, structures, treelocations, and other static object locations. Knowledge base 820 mayalso contain information, such as, without limitation, local flora andfauna of the operating environment, current weather for the operatingenvironment, weather history for the operating environment, specificenvironmental features of the work area that affect the vehicle, and thelike. The information in knowledge base 820 may be used to performclassification and plan actions. Knowledge base 820 may be locatedentirely in vehicle 800 or parts or all of knowledge base 820 may belocated in a remote location that is accessed by machine controller 802.

With reference now to FIG. 9, a block diagram of a knowledge base isdepicted in accordance with an illustrative embodiment. Knowledge base900 is an example of a knowledge base component of a machine controller,such as knowledge base 820 of vehicle 800 in FIG. 8. For example,knowledge base 900 may be, without limitation, a component of anavigation system, an autonomous machine controller, a semi-autonomousmachine controller, or may be used to make management decisionsregarding work-site activities and coordination activities. Knowledgebase 900 includes a priori knowledge base 902, online knowledge base904, and learned knowledge base 906.

A priori knowledge base 902 contains static information about theoperating environment of a vehicle. Types of information about theoperating environment of a vehicle may include, without limitation, afixed map showing streets, structures, trees, and other static objectsin the environment; stored geographic information about the operatingenvironment; and weather patterns for specific times of the yearassociated with the operating environment.

A priori knowledge base 902 may also contain fixed information aboutobjects that may be identified in an operating environment, which may beused to classify identified objects in the environment. This fixedinformation may include attributes of classified objects, for example,an identified object with attributes of tall, narrow, vertical, andcylindrical, may be associated with the classification of “telephonepole.” A priori knowledge base 902 may further contain fixed work-siteinformation. A priori knowledge base 902 may be updated based oninformation from online knowledge base 904, and learned knowledge base906.

Online knowledge base 904 may be accessed with a communications unit,such as communications unit 812 in FIG. 8, to wirelessly access theInternet. Online knowledge base 904 dynamically provides information toa machine control process which enables adjustment to sensor dataprocessing, site-specific sensor accuracy calculations, and/or exclusionof sensor information. For example, online knowledge base 904 mayinclude current weather conditions of the operating environment from anonline source. In some examples, online knowledge base 904 may be aremotely accessed knowledge base.

This weather information may be used by machine controller 802 in FIG. 8to determine which sensors to activate in order to acquire accurateenvironmental data for the operating environment. Weather, such as rain,snow, fog, and frost may limit the range of certain sensors, and requirean adjustment in attributes of other sensors in order to acquireaccurate environmental data from the operating environment. Other typesof information that may be obtained include, without limitation,vegetation information, such as foliage deployment, leaf drop status,and lawn moisture stress, and construction activity, which may result inlandmarks in certain regions being ignored.

Learned knowledge base 906 may be a separate component of knowledge base900, or alternatively may be integrated with a priori knowledge base 902in an illustrative embodiment. Learned knowledge base 906 containsknowledge learned as the vehicle spends more time in a specific workarea, and may change temporarily or long-term depending uponinteractions with online knowledge base 904 and user input. For example,learned knowledge base 906 may detect the absence of a tree that waspresent the last time it received environmental data from the work area.Learned knowledge base 906 may temporarily change the environmental dataassociated with the work area to reflect the new absence of a tree,which may later be permanently changed upon user input confirming thetree was in fact cut down. Learned knowledge base 906 may learn throughsupervised or unsupervised learning.

With reference now to FIG. 10, a block diagram of a sensor system isdepicted in accordance with an illustrative embodiment. Sensor system1000 is an example of one implementation of sensor system 810 in FIG. 8.Sensor system 1000 is also an example of one implementation ofperception system 706 in FIG. 7. Sensor system 1000 may provideinformation for safeguarding, relative positioning, and/or globalpositioning. For example, in an illustrative embodiment, if a worker isoperating in a worksite alongside vehicles, such as agriculturalvehicles 101, 102, 106, 107 and 108 or vehicle 208, grain bagger 212, ortractor 208 as shown in FIG. 2, sensor system 1000 may provideinformation about the position of each of the agricultural vehicles inrelation to each other, as well as the location of the worker inrelation to each of the agricultural vehicles 104, 106, and 108. Thisinformation allows for safeguarding of the worker as well as each ofagricultural vehicles as they operate together in a worksite. Thisinformation also provides relative positioning of each vehicle operatingin a worksite for use in vehicle coordination.

As illustrated, sensor system 1000 may include, for example, globalpositioning system 1002, structured light sensor 1004, twodimensional/three dimensional lidar 1006, dead reckoning 1008, infraredcamera 1010, visible light camera 1012, radar 1014, ultrasonic sonar1016, radio frequency identification reader 1018, rain sensor 1020, andambient light sensor 1022. These different sensors may be used toidentify the environment around a vehicle. The sensors in sensor system1000 may be selected such that one of the sensors is always capable ofsensing information needed to operate the vehicle in different operatingenvironments. Global positioning system 1002 may identify the locationof the vehicle with respect to other objects in the environment. Globalpositioning system 1002 may be any type of radio frequency locationscheme based on signal strength and/or time of flight. Examples include,without limitation, the Global Positioning System, Glonass, Galileo, andcell phone tower relative signal strength. Position is typicallyreported as latitude and longitude with an error that depends onfactors, such as ionospheric conditions, satellite constellation, andsignal attenuation from vegetation.

Structured light sensor 1004 emits light in a pattern, such as one ormore lines, reads back the reflections of light through a camera, andinterprets the reflections to detect and measure objects in theenvironment. Two dimensional/three dimensional lidar 1006 is an opticalremote sensing technology that measures properties of scattered light tofind range and/or other information of a distant target. Twodimensional/three dimensional lidar 1006 emits laser pulses as a beam,then scans the beam to generate two dimensional or three dimensionalrange matrices. The range matrices are used to determine distance to anobject or surface by measuring the time delay between transmission of apulse and detection of the reflected signal.

Dead reckoning 1008 begins with a known position, which is thenadvanced, mathematically or directly, based upon known speed, elapsedtime, and course. The advancement based upon speed may use the vehicleodometer, or ground speed radar, to determine distance traveled from theknown position. Infrared camera 1010 detects heat indicative of a livingthing versus an inanimate object. An infrared camera may also form animage using infrared radiation. Visible light camera 1012 may be astandard still-image camera, which may be used alone for colorinformation or with a second camera to generate stereoscopic, orthree-dimensional, images. When visible light camera 1012 is used alongwith a second camera to generate stereoscopic images, the two or morecameras may be set with different exposure settings to provide improvedperformance over a range of lighting conditions. Visible light camera1012 may also be a video camera that captures and records moving images.

Radar 1014 uses electromagnetic waves to identify the range, altitude,direction, or speed of both moving and fixed objects. Radar 1014 is wellknown in the art, and may be used in a time of flight mode to calculatedistance to an object, as well as Doppler mode to calculate the speed ofan object. Ultrasonic sonar 1016 uses sound propagation on an ultrasonicfrequency to measure the distance to an object by measuring the timefrom transmission of a pulse to reception and converting the measurementinto a range using the known speed of sound. Ultrasonic sonar 1016 iswell known in the art and can also be used in a time of flight mode orDoppler mode, similar to radar 1014. Radio frequency identificationreader 1018 relies on stored data and remotely retrieves the data usingdevices called radio frequency identification (RFID) tags ortransponders.

Rain sensor 1020 detects precipitation on an exterior surface of thevehicle. In one embodiment, rain sensor 1020 includes an infrared beamand an infrared sensor. In this illustrative example, rain sensor 1020operates by beaming an infrared light at a 45-degree angle into thewindshield of the vehicle from the inside of the vehicle. If thewindshield is wet, less light makes it back to the sensor, indicatingthe presence of moisture on the windshield and the likelihood of rain.The illustrative embodiment is not meant to limit the architecture ofrain sensor 1020. Other rain detection technologies may be used withoutdeparting from the spirit and scope of the invention. Ambient lightsensor 1022 measures the amount of ambient light in the operatingenvironment.

Sensor system 1000 may retrieve environmental data from one or more ofthe sensors to obtain different perspectives of the environment. Forexample, sensor system 1000 may obtain visual data from visible lightcamera 1012, data about the distance of the vehicle in relation toobjects in the environment from two dimensional/three dimensional lidar1006, and location data of the vehicle in relation to a map from globalpositioning system 1002.

Sensor system 1000 is capable of detecting objects even in differentoperating environments. For example, global positioning system 1002 maybe used to identify a position of the vehicle. If the street has treeswith thick canopies during the spring, global positioning system 1002may be unable to provide accurate location information. In some cases,conditions may cause the location information provided by globalpositioning system 1002 to be less accurate than desired. For example,in a condition with a heavy canopy, the signal from a satellite to aglobal positioning system receiver is attenuated and more prone tomultipath. Multipath results when a signal between a GPS satellite and areceiver follows multiple paths, typically caused by reflection fromobjects in the environment. These multiple signals can interfere withone another and the result may be phase shifting or destructiveinterference of the combined received signal. The signal corruption mayresult in a significant reduction in GPS position accuracy. In thissituation, visible light camera 1012 and/or two dimensional/threedimensional lidar 1006 may be used to identify a location of the vehiclerelative to non-mobile objects, such as curbs, light poles, trees, andother suitable landmarks.

In addition to receiving different perspectives of the environment,sensor system 1000 may provide redundancy in the event of a sensorfailure, which facilitates high-integrity operation of the vehicle. Forexample, in an illustrative embodiment, if visible light camera 1012 isthe primary sensor used to identify the location of the operator andvisible light camera 1012 fails, radio frequency identification reader1018 will still detect the location of the operator through a radiofrequency identification tag worn by the operator, thereby providingredundancy for safe operation of the vehicle.

With reference now to FIG. 11, a block diagram of a communications unitis depicted in accordance with an illustrative embodiment.Communications unit 1100 is an example of one embodiment ofcommunications unit 812 in FIG. 8. Communications unit 1100 is also anexample of one embodiment of communications system 712 in FIG. 7.

Communications unit 1100 may include communication channel 1102,communication channel 1104, communication channel 1106, data bandwidthand update rate requirements 1108, cyclic redundancy codes 1110,timestamp module 1112, and clock synchronization module 1114.Communication channels 1102, 1104, and 1106 are illustrative embodimentsof heterogeneous channels across multiple frequencies. Communicationsunit 1100 may include multiple copies of each of communication channels1102, 1104, and 1106 to provide redundant homogeneous channels. In anillustrative embodiment, examples of communication channels 1102, 1104,and 1108 may include, without limitation, AM radio frequency channels,FM radio frequency channels, cellular frequencies, satellite frequencychannels, Bluetooth receivers, Wi-Fi channels, and Wi-Max channels.

Data bandwidth and update rate requirements 1108 contains informationregarding the different communication bandwidths available to aparticular vehicle, and the corresponding update rate for each of thedifferent bandwidths. In an illustrative embodiment, for a particularcoordinated behavior, certain pieces of information may need to be sentat a particular update rate when the vehicles are operating at a givenspeed. If the available bandwidth does not support the desired behaviorand its data transfer needs, the behavior may be denied or thecoordinated behavior may require execution at a slower speed so vehiclecontrol can be maintained with the available lower update rate.

Cyclic redundancy codes 1110 is a data error checking means thatreceives as input a data stream of any length, and produces as output avalue of a certain space, commonly a 32-bit integer. A cyclic redundancycode can be used as a checksum to detect alteration of data duringtransmission or storage. Cyclic redundancy codes are particularly goodat detecting common errors caused by noise in transmission channels.

Timestamp module 1112 assigns a timestamp to data sets to ensurefreshness for the applications which use the data for coordination. Inone illustrative embodiment, the timestamp of the current stored data iscompared to the timestamp of newly arrived data. The current data isonly overwritten if the time stamp of the newly arrived data is morerecent than the time stamp of the currently stored data. Thisoverwriting of data is especially important if a store-and-forwardnetwork is used on a worksite and data may be delayed in travelingbetween vehicle A and vehicle B.

Clock synchronization module 1114 ensures that the computing means ineach of the multiple controllable vehicles are synchronized with acommon timing reference. Even when initially set accurately, real clockswill differ after some amount of time due to clock drift, caused byclocks counting time at slightly different rates. There are severalmethods of clock synchronization that are well known in the art.

With reference now to FIGS. 12-14 block diagrams show severalillustrative embodiments of an intelligent bagging system that mayinclude one or more processing features as described with regard toFIGS. 6-11. Referring first to FIG. 12, a block diagram of a bag stretchand braking system for use with grain bagger is depicted in accordancewith an illustrative embodiment. While grain bagger 212, and otherelements of FIG. 2 will be referred to with respect to the remainingFigures, it will be understood that other embodiments, even beyond thoseembodiments of FIGS. 2 and 3, may also be used with this description. Inan illustrative embodiment, the system 1201 composes a computerized orpartially computerized system which can further operate with computerprogram software. The system includes a controller 1202. The controllermay be disposed on the grain bagger 212, or optionally, the controllermay be positioned elsewhere (as on vehicle 208 with signals providedfrom controller to a receiver on grain bagger 212). Controller 1202 isconnected to brake actuators 1203. Brake actuators 1203 control brakingforce applied to wheels 503 of grain bagger 506 in FIG. 5. In anillustrative embodiment, brake actuators 1203 include hydraulicallycontrolled brake actuators 1203. Also included in the system of FIG. 12is auger load sensor 1204. Auger load sensor 1204 detects a load whichcorresponds to the force/torque applied by stuffing auger 207 as itpushes grain into grain bag 225. This may be detected in several ways.For example, if stuffing auger 207 is belt driven, a belt tension may bedetected as corresponding to auger load. If stuffing auger 207 of ishydraulically driven, a hydraulic pressure may be detected ascorresponding to auger load. A torque sensor may detect torque on amechanical drive associated with the auger. Alternatively, a pressuresensor may detect pressure of the grain in a position proximate to theexit of stuffing auger 207 as a measure of auger load. The auger loadsensor 1204 provides measures of actual auger load to controller 1202.

Additionally, system 1201 includes a bag stretch detector 1205 in oneembodiment. Bag stretch detector 1205 includes a sensor configured so asto measure actual bag stretch. Preferably, the bag stretch detector ispositioned at some position downstream from the stuffing auger in anarea where the bag undergoes stretch. Downstream in this sense refers toa position in the direction which grain is stuffed into bag 225. Thedetection point should be selected so as to correspond to that area onbag where stretch is taking place. The detection point should not be sofar downstream that bag 225 is no longer stretching; nor should thedetection point be selected too close to grain bagger 212 such that bag225 is not stretching at that point.

In an illustrative embodiment, bag stretch detector 1205 may be anoptical sensor in combination with markings. The detector may be apotentiometer that detects changes in resistance associated withmovement of a detector. Additionally, the detector may be a strain gaugeto measure physical stretching.

Those skilled in the art will appreciate that it is necessary to observebag stretch at multiple points along the length of bag 225 fills. Thus,it is an illustrative embodiment to use an optical scanner or reader,positioned so as to read multiple sets of markings printed or placed onbag 225 as the bag unfolds from grain bagger 212. In this embodiment,the optical scanner may be placed at a set position on grain bagger 212,and it may be pointed or aimed at a position on grain bag 225 that isseparated from grain bagger 212 by a sufficient distance so as to allowfor the stretching and stuffing to occur. Thus, optical reader will takemeasurements at an appropriate location. Further, as the bag 225 fillsand unfolds from grain bagger 212, multiple sets of marks will run outand pass the detection point of scanner. In this manner the opticalreader can take multiple readings along the length of the bag as eachmarking passes in view of the scanner.

System 1201 is configured such that controller 1202 receives informationfrom either or both of auger load sensor 1204 and bag stretch sensor1205. Calling upon the features and systems described in FIGS. 6-11,controller 1202 determines and transmits an appropriate command signalto brake actuator 1203. While not specifically shown, it is to beunderstood that controller 1202 includes linkages between othercomponents in system 1201.

With reference now to FIG. 13, a block diagram depicting a system forproviding coordinated movement between the tractor and grain cartassembly and the independently moving grain bagger is described inaccordance with an illustrative embodiment. System 1301 operates toprovide coordinated movement. As vehicles, the system 1301 includes thegrain bagger 212 of FIG. 2 and also includes a connected tractor 208 andgrain cart 210 assembly as shown in the embodiment of FIG. 2. Thetractor 208 is configured so as to pull the grain cart 210 in order tomaintain the auger 223 of grain cart 210 in the loading position withrespect to grain bagger's hopper 202. The system includes controller1302. The tractor propulsion system 1303 also includes actuators 1304such as velocity control, braking control, and steering control. Thesystem includes a position sensor 1305 which detects the relativeposition of auger 105 of FIG. 1 and hopper 202 of FIG. 2. Sensor 1305may be positioned on auger, on hopper or both.

In an illustrative embodiment, the position sensor detects the distalend 201 of auger 223, where the grain 204 is unloaded, as to the uppersurface of hopper/funnel. In various illustrative embodiments, theposition detector may be an optical reader, an electrical fielddetector, or a mechanical/spring detector. In an illustrativeembodiment, the detector can detect the relative position of the augerwith respect to the hopper opening in both X and Y coordinates, relativeto the ground surface. This information can then be used to determinewhether the velocity of the distal end 201 of the auger 223 needs to beaccelerated or retarded, or whether turning of the tractor 208 needs tomaneuver the auger 223 to the left or right relative to the grain bagger212. Further components of the coordinated movement system include aground speed detector.

In an illustrative embodiment, controller 1302 is disposed on tractor208; however, controller 1302 may be placed elsewhere and may bedistributed among multiple locations. In an illustrative embodiment ofcoordinated movement, grain bagger 212 proceeds at its pace, dictated bythe progress of the bagging operation as heretofore described. Tractor208 receives information as to the perceived location of auger 223 andhopper 202, and controller 1302 controls the manner in which tractor 208pulls grain cart 210 so as to maintain the loading position between theauger 223 and hopper 202.

In a further embodiment, grain bagger 212 or similar vehicle may furthercomprise a grain bagger propulsion system 1307 such as elements that mayinclude an engine, transmission, and gearing. Alternatively, a force todrive the grain bagger propulsion system may be drawn from prime mover206 previously described as providing the mechanical energy by whichgrain bagger performs its bagging functions. A control system for thegrain bagger propulsion system 1307 may also be included. Both thesensors and the control system may be configured similarly to othersensor and control systems described herein with respect to otherembodiments. Grain bagger 212 has previously been described wherein theforce of stuffing grain into a grain bag provides the force whichpropels or urges grain bagger 212 in a forward movement. However, inalternative embodiments, grain bagger 212 may also include a separatepropulsion system 1307 for independently propelling grain bagger 212.

Referring now to FIG. 14, a block diagram of a grain bagger steeringsystem is depicted in accordance with an illustrative embodiment. Thesteering system 1401 includes a controller 1402. As with the system inFIG. 14, the controller 1402 may be disposed on the grain bagger 107 ofFIG. 1 or may be positioned elsewhere. The system includes a steeringactuator 1403 connected to the controller 1402 for turning the grainbagger 107 to the left or to the right. Additionally, the systemincludes course sensor 1404, also connected to the controller, fordetecting the course of grain bagger.

Those skilled in the art will also appreciate that the grain baggingsystem may be configured and applied in further embodiments differentfrom the specific grain bagging systems previously described. Forexample, a general application of a grain bagging operation includes afirst mobile device or vehicle which transfers matter into a secondmobile device or vehicle. The first and second device or vehicle will bereferred to as a vehicle, though it will be appreciated that each mayalso comprise a device. The second vehicle may provide for bagging ofthe matter received from the first vehicle. Alternatively, the baggingmay include, or be substituted for, consolidation of material. Thebagging and/or consolidation of material in the second vehicle mayprovide an input force which affects the mobility of the second mobilevehicle. The affects of the mobility of the second vehicle includes bothspeed and direction of the vehicle. The speed and direction of thesecond vehicle may be controlled. Additionally, the relative positioningof the first vehicle with respect to the second vehicle may becontrolled so as to effectuate transfer of material from the firstvehicle to the second vehicle.

While the material described herein for bagging has frequently beendescribed as grain, other kinds of materials may also be included in thetransferring and bagging operations. For example, other organicmaterials may be included such as haylage, silage, corn cobs, and otherbiomass. Also, composting materials may be included such as leaves andgrass. Wood chips and saw dust could also be included as materialsubject to transfer and bagging. Additionally, sand, gravel or otherinorganic matter could also be included in an automated baggingoperation.

The bag has also been described, both in its description and usage, asis generally used in grain storage operations. However, the bag may beconfigured for other kinds of bagging applications and operations. Forexample, the bag may be smaller in size or dimension such that the bagmay be portable or even carried by another machine. Additionally, thebag may be air tight so as to enable anaerobic fermentation of the bagcontents. In another case, the bag may be made permeable to water vaporand impermeable to liquid water such that the material within the bagcould dry without being rewetted by rain and snow.

Other specific features of the previously described grain baggingsystems and embodiments may also be incorporated into the general grainbagging system. For example, a second vehicle may further include apropulsion system, sensors, and a control system for the propulsionsystem. The sensors may provide information to the control system.Further, the sensors may receive information related to the courseand/or speed and/or position of the second vehicle. In response to asensed signal, the control system may adjust the propulsion system so asto adjust the course and/or speed of the second vehicle.

Thus, by way of example only, further embodiments of a general baggingsystem may also include automated transfer from a first vehicle to asecond vehicle, and bagging of the material in the second vehicle,wherein the material may include lawn clippings, grass, mowing product,leaves, haylage, silage, biomass, corn cobs, organic matter, sand,gravel, and inorganic matter.

Having described various illustrative embodiments of the invention froma structural standpoint, a method of using the system will now bedescribed. With reference now to FIG. 15, a flowchart illustrating aprocess for braking control of bagging unit is depicted in accordancewith an illustrative embodiment. The process in FIG. 15 may beimplemented by software in conjunction with a computer, such as machinecontroller 802 in FIG. 8. The process begins at START (step 1501) whichmay be, for example, a power up command, or a routine initiation.

A self-test step (not shown) may be executed to ensure on-board systemsare running. The system detects bag stretch (step 1502). An indicationof bag stretch is provided by one or more sensors observing bag stretch.Bag stretch sensing may be provided by, for example, optical or visualscanners, tension detectors, or potentiometers. The process may furtherinclude translation routines where observed physical phenomena such asdistance, force, or resistance are translated into the correspondingstretch data unit or other desired unit. Additionally, the process mayinclude an averaging or smoothing function wherein individual senseddata points are averaged or smoothed with similar data in order toremove anomalous spikes from an overall data set. Further, the bagstretch may be detected at a single location or multiple locations onbag.

In an illustrative embodiment, the bag stretch measurement 1502 is takenat a set lateral length (along the lengthwise axis of bag) away from thestuffing auger as this is the location at which the bag is undergoingdynamic stretch. Farther down the length of the bag, the bag has alreadystretched. Closer in from this position, the bag has not yet beenstuffed enough to provide any useful stretching data.

The bag stretch detected in step 1502 is then compared to a bag stretchstandard (step 1503). A bag stretch standard represents a desired levelof bag stretch so as to optimize the grain bag's carrying capacitywithout overstretching the bag. This parameter may depend on thephysical construction of the bag such as thickness and elasticity.Additionally, the compressibility of the grain may also factor into adesired stretch standard.

A series of testing steps and corresponding functional actions nowfollow. If the detected stretch is within the tolerance of the standard(step 1504), then no braking adjustment is called for (step 1505). Thislevel of stretch indicates that the bag is displaying a level of stretchwithin tolerance. If the detected stretch is too high (step 1506); i.e.,is higher than the standard, then the system generates a signal todecrease braking power (step 1507). A too high signal indicates that thebag is overstretching. Thus, by decreasing the braking power to thebrakes it allows the bagging unit to be moved forward more easily, thusdecreasing the stretching force on the bag. If the detected stretch istoo low (step 1508); i.e., the detected stretch is lower than thestandard, then the system generates a signal to increase braking power(step 1509). A too low bag stretch indicates that not enough grain isbeing stuffed into the bag. By increasing braking strength, the baggingunit is held more in place, giving more resistance to the bag andthereby allowing more grain to be stuffed into the bag so as to cause itto stretch further.

At this point, the routine ends (step 1510). However, the routine ofFIG. 15 can be repeated multiple times, such as periodically repeatedevery defined unit of time, in order to maintain a continuous monitoringof bagging stretch.

The process described in FIG. 15 may further include predictive processcontrol smoothing techniques wherein brake adjustments are made justprior to the stretch data falling out of a desired limit. For example, aseries of increasing stretching signals over a period of time may signalthat braking adjustments are made immediately rather than waiting forthe signal to fall outside of the limit. This is done because thephysical effect of decreased braking will experience a time delay suchthat the braking effect will not show up in the overall system for afurther unit of time. If the braking were delayed, after that furtherunit of time, the stretch would have fallen outside of its limit.

With reference now to FIG. 16, a flowchart illustrating a process forsteering control of bagging unit is depicted in accordance with anillustrative embodiment. The process in FIG. 16 may be implemented bysoftware in conjunction with a computer, such as machine controller 802in FIG. 8.

The process begins at START (step 1600) which may be, for example, apower up command, or a routine initiation. A self-test step (not shown)may be executed to ensure on-board systems are running.

In one illustrative embodiment, a course vector is entered into thesystem (step 1601). Course vector corresponds to a desired course orpath that the grain bagger is desired to follow. In practical operationof the process, a grain bagger must travel up to a few hundred feet inorder to completely fill a grain bag. Thus, a course vector may providean acceptable course (open and clear of obstructions) for that distance.Optionally, a GPS (global positioning satellite system) data marker canbe input (step 1602). Again, if it is desired that the grain baggertravel a few hundred feet in order to fill the grain bag, a GPS waypoint or data marker can be selected on a line along the desired path oftravel at some farther distance. For example, a GPS way point a miledistant on the desired path of travel can be selected and input. Infurther steps of the process, the grain bagger would tend to traveltoward the way point, and would necessarily follow the desired path forthe few hundred feet it is necessary to fill the grain bag. Otheroptions, not shown in the process, include providing a radio signaltransmitter or providing a visual marker (such as a ground stake) eachwith a desired course of travel. The process detects an actual steeringvector (step 1603). The detection can be from one of the methodspreviously described such as, by way of illustrative example only,visual detection of a marker, inertial course detection, radio signaldetection, or GPS signals. The actual steering vector detected in step1603 is then compared with the desired course vector (step 1604). Thisdata comparison is evaluated (step 1605). If the actual detected courseis on course (or within a desired tolerance), no steering change isindicated. And, the process may return to the step of detecting anactual steering vector (step 1603). However, if the actual detectedcourse is off course; i.e., the detected course differs from the enteredcourse vector by some defined degree, then a steering adjustment isprovided (step 1606). A steering adjustment may be a left turn actuationor a right turn actuation depending on the desired correction. Thecomparison step 1604 may further indicate that the vehicle has fallenoff the desired course vector either to the left or to the right. Asdesired, the process of FIG. 16 can be repeated in order to maintain acontinual course correction procedure. Referring now to FIG. 17, aflowchart illustrating a method to control the coordinated movement of atractor and grain cart with respect to a grain bagger is depicted inaccordance with an illustrative embodiment. An iterative, repeatableprocess, which may be implemented by software in conjunction with acomputer, such as controller 802 as shown in FIG. 8 begins with step1701. The grain bagger 212 begins to load grain in an associated grainbag 108 (step 1702). In the process of the illustrative embodiments, anengine or prime mover 206 disposed on grain bagger 212 providesmechanical energy (or other forms of energy) so as to stuff grain fromhopper 202 into grain bag 225. In an illustrative embodiment, a stuffingauger transfers the grain into grain bag 225. The act of filling thegrain bag (step 1702) provides a motive force which begins to push grainbagger 107 in FIG. 1 in a forward direction. As previously described,the forward movement of grain bagger 212 in FIG. 2 is controlled bybraking and steering control. In this manner, the loading of grain bag(step 1702) allows grain bagger 212 to proceed in a desired course,which will generally be a straight course so as to allow grain bag 225to fill with minimal kinks or contortions which may affect the carryingvolume of grain bag 225. A sensor detects the relative position of auger223 and hopper 202, and in an illustrative embodiment the position ofdistal end 201 of auger 223 and hopper 202 is detected (step 1703). Aspreviously described, the sensor may detect the relative positions usingany of the various sensing equipment. The detection determines theposition of distal end 201 of auger 223 with respect to an XY plane. Asfurther described herein, this will allow for backwards/forwards andleft/right control. Sensor information regarding the position of auger223 and hopper 202 is provided to a controller 221 which interprets theinformation in the following series of steps. In one step the systemdetermines whether the auger 223 is in a negative X-axis position withrespect to the hopper (step 1704). This is the equivalent of the distalend 201 of the auger 223 falling behind with respect to the hopper 202because the grain cart 210 is moving too slowly. Alternatively, thequery could be such so as to determine whether the auger 223 is in anegative position with respect to a predetermined loading position. Ifthe response to that query is yes, then the system generates the commandto adjust the tractor position. In this case, the tractor 208accelerates (step 1705). It is the tractor 208 that accelerates as it isthe tractor 208 that generally pulls and controls the position of graincart 210. Thus the grain cart 210 is accelerated, and likewise the auger223 attached to the grain cart 210 is accelerated.

In a further step, the controller determines whether the auger 223 is ina positive X-axis position with respect to the hopper 202; i.e., thegrain cart 210 is going too fast (step 1706). If the response to thisquery is yes, the system generates a command to brake the tractor 208and thereby retard the movement of the grain cart 210 and auger 223(step 1707).

In a further step, it is determined whether the auger 223 is in apositive Y-axis position with respect to the hopper 202; i.e., thehopper 202 is too far right (step 1708). If so, the tractor 208 isturned to the left so as to move the grain cart 210 (and auger 223) tothe left (step 1709).

In a still further step, it is determined whether the auger 223 is in anegative Y-axis position with respect to the hopper 202; i.e., the auger223 is too far left (step 1710). If the response is yes, the tractor 208is turned right (step 1711) so as to move the grain cart 210 and auger223 to the right. In each of the above steps, the corrective step seeksto maintain the grain cart 210 in the loading position as between thedistal end 201 of auger 223 and hopper 202.

The method described in FIG. 17 relates to the coordinated movement oftractor 208 and grain cart 210 such that, while grain bagger 212 is inmotion, the grain cart 210 is maintained in the loading position withrespect to grain cart 212. However, it should also be pointed out thatthe coordinated movement system and method can be used duringpre-loading operations, such as when the grain bagger 212 is in astatic, non-loading position. In such a situation, the grain cart 210can be maneuvered, via the tractor 208, so as to first place distal end201 of auger 223 into the loading position with respect to the hopper202. For example, the system can provide positioning signals as towhether auger 223 is in the positive or negative position, with respectto the X and Y axes, and can be moved accordingly, when grain bagger 212is not moving. Once that loading position has been achieved, thenloading of the grain bag 225 along with movement of grain bagger 212 canbe initiated. Then dynamic coordinated movement, the method of FIG. 17,can come into place.

In a further illustrative embodiment, the various systems and featuresof the intelligent grain loader are configured and positioned such thata single operator, positioned within tractor 208 can, after initial setup work, initiate and manage the grain bagging operation. Initial set upwork, which may be done outside the tractor, may include attachment ofthe grain bag to the grain bagger. It could also include the positioningof any external position markers, if used. It could also include theattachment of tractor to grain cart.

As just described, the operator can first position the auger in theloading position while positioned in the tractor. Also, for example, theengine 504 on grain bagger 212 can have a remote starting and stoppingfunctionality such that the operator can start the engine whilepositioned in the tractor. The start up of the engine would theninitiate grain transfer into the grain bag. Additionally, the operatorcan enter desired course or path information as to the grain baggerwhile positioned in the tractor. In this manner, a single operator canmanage the grain bagging operation thus freeing several other workers toundertake other tasks.

Referring now to FIG. 18, a flowchart illustrating a method for graincart cycling is depicted in accordance with an illustrative embodiment.The process depicted in FIG. 18 may be performed in conjunction withembodiments as shown in FIGS. 2 and 5. Further, the process may proceedas described with respect to the time intervals depicted in FIG. 4.

The process of grain cart cycling begins with harvesting a crop such asgrain with a harvester 224 (step 1801). As the harvester 224 completesthe harvesting, the crop product such as grain 204 is stored in theharvester's integral storage tank. The rapidity in which the harvester'sstorage tank will fill depends on a number of factors such as cropyield, the kind of crop, terrain, weather, and harvester speed.

The position of harvester 224 may be referred to herein as a harvestinglocation 299. As harvester 224 moves through a crop or field, theharvesting location 299 will also move. Harvesting location 299 is thusnot necessarily a static location. Thus, ancillary vehicles as describedfurther herein, proceed to harvesting location 299 to meet harvester 224in order to receive grain or crop product from harvester 224.

In a further step, crop product from harvester 224 is transferred intobulk unloading grain cart 271 (step 1802). In one embodiment of step1802, the transfer of grain from harvester 224 to bulk unloading graincart 271 is performed using an auger or other transfer equipmentdisposed on or included with harvester 224. The bulk unloading graincart 271 need not include an additional auger or transfer device. Inthis manner, capital equipment on the bulk unloading grain cart 271 isminimized and a savings can be realized. The bulk unloading grain cart271 need not carry an auger or the machinery needed to unfold andposition the auger or to power the auger. Typically an auger is poweredby some mechanical means, such as a belt drive taken from a tractor PTO.Additionally, an auger must typically be moved and positioned. Thismovement and positioning includes unfolding the auger and moving it intoa position such that the auger receives grain at one end and transfersthe grain at the other end in a desired location. After use, the augeris folded back into a storage position. The movement and positioning ofthe auger is typically performed by hydraulic actuation. With respect toa grain cart, again the power source for hydraulic actuation often comesfrom the hydraulic system of an attendant tractor. In the presentlydescribed configuration, a bulk unloading grain cart has no need for theexpensive machinery associated with an auger and its ancillaryequipment.

In a further step, the bulk unloading grain cart 271, now laden withgrain, transports the grain from the harvester 224 to the accumulationsite 291 (step 1803). This may be performed by towing the bulk unloadinggrain cart by another vehicle. Those skilled in the art will furtherrecognize that the towing vehicle may now be any vehicle such as, forexample, a pickup truck. There is no need for the towing vehicle to alsoprovide the additional functionality of a PTO or hydraulic power to thebulk unloading grain cart 271.

In a further step, the bulk unloading grain cart 271 bulk unloads itsload of grain at an accumulation site 291 (step 1804). The bulkunloading may be accomplished through a number of processes and with anumber of different equipment. The bulk unloading may comprise a gravitydump, a quick unloading which advantageously uses potential energy dueto the elevated position of the grain in the bulk unloading grain cartrelative to a lower position. The gravity dump may be through a reardump, a side dump, or bottom dump configured in the bulk unloading graincart. Alternatively, the gravity dump may include overturning the cartso as to allow the grain to fall through the opening in the top of thegrain cart.

The machinery and equipment used to enable the bulk unloading of step1804 may also include a number of different kinds of equipment. Forexample, the bulk unloading grain cart 271 may include quick releasedoors, windows, or gates that allow a quick gravity dumping of granularcrop product. The bulk unloading grain cart 271 may further include anumber of hydraulic piston and cylinder sets with additional hydraulicequipment configured so as to elevate a bed or portion of the cart inorder to achieve gravity dumping. Moveable doors or gates such as hingeddoors or sliding doors may further be employed.

The bulk unloading grain cart 271 may, but does not necessarily, differin configuration when compared with the previously described grain cart210. Grain cart 210 may include the auger and related equipment in orderto achieve the grain transfer into the hopper 202 of grain bagger 212.As just described, bulk unloading grain cart 271 does not need thisequipment. Further, grain cart 210 need not include a configuration forbulk unloading, but may have such. However, the flexible configurationof bulk unloading grain cart 271 does allow an operator to save incapital by omitting unnecessary items of equipment.

Bulk unloading deposits grain at an accumulation site 291. Anaccumulation site 291 is any location where a crop product may be bulkunloaded. A simple form of accumulation site 291 is a grain pilepositioned on the ground. Liners, containers, bins, hoppers, and otherforms of equipment may also be used in conjunction with the accumulationsite. The accumulation site 291 may be on the ground, above ground, orbelow ground. Additionally, the accumulation site 291 may include bulkcarriers such as grain bins, mobile grain bins, hoppers, grain trucks,and bulk grain railcars.

In a further step, bulk unloading grain cart 271 returns to theharvesting location 299 and harvester 224 (step 1805). Bulk unloadinggrain cart 271 may do this in order to receive a further load of grain,and thereby begin the process of FIG. 18 again at step 1802.

A further advantage of the illustrative embodiment of the grainunloading and bagging method is here mentioned. As just described, bulkunloading grain cart 271 engages in a cycle or circuit of grainreceiving, grain transporting, bulk unloading, and returning. Quicknessin movement is therefore desired. In other embodiments, a tractor, arelatively slow moving vehicle, is employed to tow a grain cart. Bulkunloading grain cart 271 need not be towed by a tractor, having no needfor the mechanical or hydraulic functionality of the tractor, butinstead may be towed by a truck, a vehicle capable of relatively quickermovement. A truck may be able to tow bulk unloading grain cart 271 morequickly than a tractor, especially when longer travel distances areencountered, thereby increasing the overall speed and efficiency of thegrain harvesting and bagging operation.

Referring now to FIG. 19, a flowchart showing a grain bagging process isdepicted. In a further step, the grain or crop product at accumulationsite 291 is transferred into a grain bag (step 1906). Step 1906 isdepicted in FIG. 19; however step 1906 can take place as a parallelprocess with respect to the steps shown in the process of FIG. 18. Step1906 may also proceed in similar fashion as previously described withrespect to the embodiments of FIGS. 2 and 5 with the followingdifference.

As previously described, for example with respect to the illustrativeembodiment of FIG. 2, a grain cart 210 contains grain and that grain istransferred to a grain bagger 212 for loading into a grain bag 225. Atstep 1906, grain is positioned at an accumulation site which may be, butneed not be, a grain cart. If, for example, grain at accumulation siteis in the form of a grain pile, the grain may be loaded directly into agrain bagger hopper.

Alternatively, the grain in a grain pile may be loaded into a grain cartwhich attends a grain bagger as previously described. The loading from agrain pile into a grain cart may take place by any suitable means suchas, for example, use of a bulk mover such as a front end loader.

The transferring step 1906 is described as a parallel process, but mayalso take place in another configuration. Transferring step 1906 maytake place in series with respect to the other steps of FIG. 18.

Referring now to FIG. 20, a flowchart illustrating a method for graincart cycling is depicted in accordance with an illustrative embodiment.The method depicted in FIG. 20 may be performed in conjunction with asystem such as depicted in FIG. 2. In one step, a harvester 224 isfilled in a filling time interval (step 2001). Filling time interval isthat interval of time it takes to fill the holding tank integral in theharvester 224.

In a further step, grain from the harvester holding tank is receivedinto a bulk unloading grain cart 271 in a receiving time interval (step2002). The receiving time interval is that interval of time it takes totransfer grain from the harvester holding tank into the bulk unloadinggrain cart 271.

In a further step, the bulk unloading grain cart 271 transports thereceived grain to accumulation location 291 in a transporting timeinterval (step 2003). Thus, the transporting time interval is thatperiod of time it takes the bulk unloading grain cart 271 to move fromthe harvester 224 to the accumulation location 291.

In a further step, the bulk unloading grain cart 271 bulk unloads thegrain at the accumulation location 291 in an unloading time interval(step 2004). The unloading time interval is that period of time it takesto bulk unload the grain at accumulation location 291.

In a further step, the now unloaded bulk unloading grain cart 271returns to the harvester 224 in a returning time interval (step 2005).The returning time interval is that period of time it takes the bulkunloading grain cart 271 to move from the accumulation location 291 tothe harvester 224.

Referring next to FIG. 21 a flow chart illustrating a grain baggingmethod is depicted in accordance with an illustrative embodiment. In afurther step, grain at the accumulation location 291 is placed into agrain bag 225 in a bagging time interval (step 2106). The step ofplacing grain into the grain bag 225 may take place as a parallelprocess with respect to the other steps of the process shown in FIG. 20.The bagging time interval is that period of time it takes to bag thevolume of grain that was dumped by the bulk unloading grain cart 271 inthe bulk unloading step 2004. Further, bagging step 2006 may proceed aspreviously described herein such as with respect to FIGS. 2 and 3.

Turning now to a discussion of FIG. 20, the method may be configured soas to employ a single cart or a multiple cart cycle. For example, whenthe receiving interval of time is greater than the sum of thetransporting interval of time, the unloading interval of time, and thereturning interval of time, then a two cart system is called for. Afirst cart engages in receiving while the second cart is transporting,unloading, and returning.

In another configuration, the filling interval of time is less than thesum of the transporting interval of time, the unloading interval oftime, and the returning interval of time. In that configuration, asingle grain cart may be used to attend the harvester. One grain cartprovides transport from the harvester to and from the accumulator withbulk unloading while the harvester fills. In such a situation, theintegral grain tank of the harvester would have to have sufficientlylarge capacity such that the filling interval of time allows for theother activities.

The description of the different advantageous embodiments has beenpresented for purposes of illustration and description, and is notintended to be exhaustive or limited to the embodiments in the formdisclosed. Many modifications and variations will be apparent to thoseof ordinary skill in the art. Further, different embodiments may providedifferent advantages as compared to other embodiments. The embodiment orembodiments selected are chosen and described in order to best explainthe principles of the invention, the practical application, and toenable others of ordinary skill in the art to understand the inventionfor various embodiments with various modifications as are suited to theparticular use contemplated.

1. A method for managing the movement and storage of grain, the methodcomprising the steps of: transporting grain in a grain cart from aharvesting location to an accumulation site; unloading grain from thegrain cart at the accumulation site to form unloaded grain; returningthe grain cart to the harvesting location; and transferring the unloadedgrain from the accumulation site into a grain bag while at least one ofthe transporting step, unloading step, and the retuning step occur. 2.The method of claim 1 wherein the step of unloading grain furthercomprises bulk unloading of grain from the grain cart.
 3. The method ofclaim 2 wherein the step of bulk unloading is selected from the groupconsisting of bottom dumping, side dumping, and rear dumping from thegrain cart.
 4. The method of claim 1 wherein the step of unloading grainfurther comprises unloading grain on the ground.
 5. The method of claim1 wherein the step of unloading grain further comprises unloading grainbelow ground.
 6. The method of claim 4 further comprising a linerpositioned between the grain and the liner.
 7. The method of claim 1wherein the step of unloading grain further comprises unloading graininto a bin selected from the group consisting of: a storage bin, amobile storage bin, a hopper, a truck grain bin, and a grain rail car.8. The method according to claim 1 wherein the grain cart furthercomprises a bulk unloading grain cart.
 9. The method of claim 8 furthercomprising transferring grain into the bulk unloading grain cart from agrain harvester utilizing grain transfer equipment positioned in theharvester.
 10. The method of claim 9 wherein the bulk unloading graincart is characterized by not having an auger.
 11. The method of claim 9wherein the transfer equipment comprises an auger.
 12. The method ofclaim 8 wherein the step of unloading further comprises rear gravitydumping from the bulk unloading grain cart, and wherein the bulkunloading grain cart comprises a hydraulic piston and cylinder.
 13. Themethod of claim 8 wherein the bulk unloading grain cart furthercomprises at least one from the group consisting of a gate, a door, asliding door, and a window.
 14. The method of claim 1 wherein the stepof transferring the unloaded grain from the accumulation site into agrain bag further comprises: loading grain into the grain bag attachedto a grain bagging unit, the loading thereby providing a propellingforce and stretching force to the grain bagging unit; responsive tostretching of the grain bag information, controlling the braking of thegrain bagging unit; responsive to sensed course of the grain baggingunit information, controlling the steering of the grain bagging unit;sensing the relative positions of a grain transferor and a receivinghopper so as to obtain a sensed relative position; responsive to thesensed relative position, controlling the position of a second graincart and tractor assembly relative to the grain bagging unit such thatthe grain transferor connected to the second grain cart maintains aloading position with respect to the hopper disposed on the grainbagging unit; and loading grain from the second grain cart through thetransferor into the hopper.
 15. A method for managing the movement andstorage of grain, the method comprising the steps of: receiving grainfrom a harvester into a grain cart such that the time for receivingcomprises a receiving interval of time; transporting grain in a graincart from a harvesting location to an accumulation location such thatthe time for transporting comprises a transporting interval of time;unloading grain from the grain cart at the accumulation location suchthat the time for loading comprises an unloading interval of time;returning the grain cart from the accumulation location to the harvestersuch that the time for returning comprises a returning interval of time;and wherein the receiving interval of time is greater than the sum ofthe transporting interval of time, the unloading interval of time, andthe returning interval of time.
 16. The method according to claim 15further comprising loading grain from the grain cart accumulationlocation into a grain bag in a parallel process with the steps ofreceiving, transporting, and returning.
 17. A method for managing themovement and storage of grain, the method comprising the steps of:filling grain into a harvester such that the time for filling theharvester comprises a filling interval of time; receiving grain from aharvester into a grain cart such that the time for receiving comprises areceiving interval of time; transporting grain in a grain cart from aharvesting location to an accumulation location such that the time fortransporting comprises a transporting interval of time; unloading grainfrom the grain cart at the accumulation location such that the time forloading comprises an unloading interval of time; returning the graincart from the accumulation location to the harvester such that the timefor returning comprises a returning interval of time; and wherein thefilling interval of time is less than the sum of the transportinginterval of time, the unloading interval of time, and the returninginterval of time.
 18. The method according to claim 17 furthercomprising parallel grain bag loading.
 19. A method for managing cropharvesting and crop bagging comprising: transporting a crop product in acart from a harvester to an accumulation site; bulk unloading cropproduct from the cart at the accumulation site; returning the cart tothe harvester; and transferring the crop product from the accumulationsite into a bag, wherein a first process comprises transporting the cropproduct, bulk unloading the crop product, and returning the cart;wherein a second process comprises transferring the crop product fromthe accumulation site into a bag; wherein the first process and secondprocess proceed in parallel.
 20. The method of claim 19 wherein the stepof transferring the crop product from the accumulation site into a bagfurther comprises: loading the crop product into a bag attached to abagging unit, the loading thereby providing a propelling force andstretching force to the bagging unit; responsive to stretching of thebag information, controlling the braking of the bagging unit; responsiveto sensed course of the bagging unit information, controlling thesteering of the bagging unit; sensing the relative positions of a graintransferor and a receiving hopper so as to obtain a sensed relativeposition; responsive to the sensed relative position, controlling theposition of a crop product loading cart and tractor assembly relative tothe bagging unit such that the grain transferor connected to the cropproduct loading cart maintains a loading position with respect to thehopper disposed on the bagging unit; and loading grain from the cropproduct loading cart through the transferor into the hopper.
 21. Themethod of claim 20 wherein the crop product loading cart comprises: awheeled vehicle platform the platform configured to receive attachmentof a grain bag; a hopper disposed on the vehicle, the hopper configuredto receive grain; a grain distributor connected to the platform andconfigured to transfer grain from the hopper to the grain bag; a primemover configured to provide power to the grain distributor; a brakingsystem associated with the platform; a steering system associated withthe platform; a controller configured to control the braking system andthe steering system; a braking control system comprising a sensorconfigured to provide bag stretch information to the controller, and thecontroller configured to provide braking commands to the grain baggerbraking system responsive to stretch information; and a steering controlsystem comprising a course sensor configured to provide courseinformation to the controller and the controller configured to providesteering commands to the grain bagger steering system responsive tocourse information.
 22. The method according to claim 19 wherein thestep of transferring the crop product from the accumulation site into abag further comprises use of a system comprising: a crop product loadingcart; a vehicle attached to the crop product loading cart; a baggerconfigured so as to receive attachment of a bag and to load the cropproduct into the bag; a prime mover connected to the bagger andconfigured to power the bagger; a hopper connected to the bagger andconfigured to receive the crop product; a crop product transferorconfigured to transfer crop product from the crop product loading cartto the hopper, and wherein the hopper and the crop product transferordefine a loading position; and a coordinated movement system configuredso as to receive position information as to the crop product transferorand the hopper and further configured to provide course adjustinginformation so as to maintain the crop product transferor in the loadingposition relative to the hopper.
 23. The system according to claim 22wherein the coordinated movement system provides course adjustinginformation to the vehicle.
 24. The system according to claim 22 furthercomprising a controller configured to control the coordinated movementsystem.
 25. The system according to claim 22 wherein the baggercomprises a braking system and braking control system and furthercomprises a bagger controller, and wherein the bagger braking controlsystem comprises a bag stretch sensor configured to provide bag stretchinformation to the controller, and the controller is configured toprovide braking commands to the bagger braking system.
 26. The systemaccording to claim 22 wherein the bag stretch sensor is selected fromthe group consisting of resistance sensors, visual readers,potentiometers, mechanical sensors, torque detector, hydraulic pressuresensor, and belt tension sensor.
 27. The system according to claim 22wherein the bagger further comprises a steering system and steeringcontrol system, and the system further comprises a bagger controller,and wherein the bagger steering control system comprises a course sensorconfigured to provide course information to the controller and thecontroller is configured to provide steering commands to the baggersteering system.
 28. The system according to claim 27 wherein thesteering controller further comprises a global positioning satellitesystem receiver configured to receive global positioning satellitesystem course information.